Joint actuation switching in closed-chain mechanisms for high task adaptability

Author

Kim, Sungbok

Author_Institution

Dept. of Control & Instrum. Eng., Hankuk Univ. of Foreign Studies, Kyoungki, South Korea

Volume

1

fYear

1999

fDate

1999

Firstpage

531

Abstract

Presents the smooth joint actuation switching in a closed chain mechanism for achieving high task adaptability. First, the kinematic characteristics of a closed-chain mechanism possibly with actuational redundancy is formulated, and the effect of the distribution of actuating joints is analyzed. Next, with respect to the task compatibility in control efficiency or accuracy, the joint actuation switching of a closed-chain mechanism is optimized, and the discontinuity in joint torque incurred due to the abrupt joint actuation switching is described. Then, the smooth transition in joint actuation of a closed-chain mechanism is proposed, based on the redundancy resolution associated with the augmented statics defined for a short transition interval. Simulation results for a planar closed-chain mechanism are given

Keywords

force control; manipulator kinematics; position control; actuational redundancy; closed-chain mechanisms; control efficiency; discontinuity; high task adaptability; joint actuation switching; joint torque; kinematic characteristics; redundancy resolution; task compatibility; Assembly; Controllability; Degradation; Force control; Geometry; Instruments; Kinematics; Switches; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.770031

Filename

770031