Kinematics of Redundantly Actuated Closed Chains

Vijay Kumar, John F. Gardner

Research output: Contribution to journalArticlepeer-review

Abstract

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.

Original languageAmerican English
JournalDepartmental Papers (MEAM)
StatePublished - 1 Apr 1990
Externally publishedYes

EGS Disciplines

  • Engineering
  • Mechanical Engineering

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