Improved task adaptability of open/closed chain mechanisms through continuous joint mode conversion

Author

Kim, Sungbok ; Choi, Jong Gap

Author_Institution

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

Volume

3

fYear

1999

fDate

1999

Firstpage

1380

Abstract

Presents a simple and effective way of improving the task adaptability of redundant open/closed chain mechanisms based on joint locking/unactuation and continuous joint mode conversion. The joint locking/unactuation in an open/closed chain mechanism is incorporated in the kinematics/statics of the mechanism, and the varying kinematic characteristics depending on the distribution of frozen/passive joints is analyzed. The discontinuity in joint velocity/torque of an open/closed chain mechanism, incurred when the joint mode switching is done abruptly, is described. Two methods of the continuous joint mode conversion for a short transition interval are proposed and compared. Finally, simulation results for a planar redundant open chain mechanism employing joint locking are given

Keywords

Jacobian matrices; redundancy; robot kinematics; closed chain mechanisms; continuous joint mode conversion; discontinuity; frozen joints; joint locking; kinematic characteristics; passive joints; planar redundant open chain mechanism; statics; task adaptability; Actuators; Controllability; Degradation; Fault tolerance; Geometry; Instruments; Kinematics; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on

Conference_Location

Kyongju

Print_ISBN

0-7803-5184-3

Type

conf

DOI

10.1109/IROS.1999.811672

Filename

811672