Kinematics of Redundantly Actuated Closed Chains
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Mechanical Engineering
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The instantaneous kinematics of a hybrid manipulation system, which combines the traditional serial chain geometry with parallelism in actuation, and the problem of coordination is discussed. The indeterminacy and singularities in the inverse kinematics and statics equations and measures of kinematic performance are analyzed. Finally, coordination algorithms that maintain an optimal force distribution between the actuators while avoiding or exploiting singularities are presented.
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Suggested Citation: Kumar, V. and J.F. Gardner. (1990). "Kinematics of Redundantly Actuated Closed Chains." IEEE Transactions on Robotics and Automation, Vol. 6(2)2. pp. 269 - 274. ©1990 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.