Dynamic coupling effects in modeling and control of hard contact motion of a manipulator

The dynamic coupling effects in the modeling and control of a multiple-joint serial-link manipulator turning a crank mechanism are considered. By dynamically distributing the load, i.e., the crank, the generalized contact forces are decomposed into internal stress and motion components. A rigid body model for the entire closed-chain system is developed. It is shown that a subset of the internal stress contact forces may be explicitly controlled while simultaneously and independently controlling the position of the system.<>