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A kinetostatics-based study of uniqueness of reactions and drives in robotics

Pękal M., Frączek J.

Journal of Automation Mobile Robotics and Intelligent Systems

2017

Vol. 11, No. 2

21--30

Reaction and driving forces may be non-unique in many robotic systems. This may pose a problem during robot design or its control synthesis. Hence, it is useful to detect which reaction or actuation forces are non-unique. Previously developed methods are designed for reactions uniqueness analysis only. These methods studied the constraint Jacobian matrix. The kinetostatics-based approach, presented in this paper, enables the simultaneous study of reactions and driving forces uniqueness. It allows the application of the criteria derived from the concepts of linear algebra, e.g. direct sum or nullspace. In this paper only the nullspace method is presented. Moreover, in order to illustrate the approach, five examples are provided.