TY - JOUR
T1 - Efficient Formulation of the Force Distribution Equations for Simple Closed-Chain Robotic Mechanisms
AU - Cheng, Fan Tien
AU - Orin, David E.
N1 - Funding Information:
Manuscript received December 10, 1988; revised December 16, 1989. This work was supported in part by a fellowship from The Chung Shan Institute of Science and Technology, Taiwan, and in part by the National Science Foundation under Computational Engineering Grant No. EET-8718434. F. T. Cheng is with the Department of Electrical Engineering, National Cheng Kung University, Tainan, Taiwan. D. E. Orin is with the Department of Electrical Engineering, The Ohio State University, 2015 Neil Ave., Columbus, OH 43210. IEEE Log Number 8934156.
PY - 1991
Y1 - 1991
N2 - Force distribution is the inverse dynamics problem for multiple-chain systems in which the motion is completely specified and the internal forces/torques to effect this motion are to be determined. A computationally efficient formulation to the force distribution problem is presented. This formulation is applicable to a number of simple closed-chain robotic mechanisms including dexterous hands, multiple manipulators, and multilegged vehicles. Modeling of chain contacts is relatively general so that hard point contact, soft finger contact, or rigid contact with an irregular-shaped object or with uneven terrain, may be handled. The dynamic effects of the chains and physical limits on their actuators are efficiently included in the formulation through use of the inverse dynamics and Jacobian relationships for each chain. Based on this efficient formulation, a variety of methods may then be developed to solve the force distribution problem.
AB - Force distribution is the inverse dynamics problem for multiple-chain systems in which the motion is completely specified and the internal forces/torques to effect this motion are to be determined. A computationally efficient formulation to the force distribution problem is presented. This formulation is applicable to a number of simple closed-chain robotic mechanisms including dexterous hands, multiple manipulators, and multilegged vehicles. Modeling of chain contacts is relatively general so that hard point contact, soft finger contact, or rigid contact with an irregular-shaped object or with uneven terrain, may be handled. The dynamic effects of the chains and physical limits on their actuators are efficiently included in the formulation through use of the inverse dynamics and Jacobian relationships for each chain. Based on this efficient formulation, a variety of methods may then be developed to solve the force distribution problem.
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U2 - 10.1109/21.101133
DO - 10.1109/21.101133
M3 - Article
AN - SCOPUS:0025838950
SN - 0018-9472
VL - 21
SP - 25
EP - 32
JO - IEEE Transactions on Systems, Man and Cybernetics
JF - IEEE Transactions on Systems, Man and Cybernetics
IS - 1
ER -