A Solution for the Force Distribution Problem in Redundantly Actuated Closed Kinematic Chains

[+] Author and Article Information
J. F. Gardner

Mechanical Engineering, Pennsylvania State University, University Park, PA 16802

K. Srinivasan, K. J. Waldron

Mechanical Engineering, Ohio State University, Columbus, Ohio 43210

J. Dyn. Sys., Meas., Control 112(3), 523-526 (Sep 01, 1990) (4 pages) doi:10.1115/1.2896177 History: Received May 01, 1988; Online March 17, 2008


Proper control of robotic systems which incorporate closed kinematic chains is important in many applications. Among these are the multi-robot work cell and legged vehicles. In these no unique solution exists for the force distribution corresponding to a specified trajectory. A framework within which additional constraint equations may be written is presented here, and the force distribution solved in closed form for a walking machine application. These constraints are related to system performance goals of interest, such as improved traction and/or load sharing among the legs. The proposed technique is shown to be computationally simpler than other alternative solutions to the same problem.

Copyright © 1990 by The American Society of Mechanical Engineers
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