Adjustable manipulability of closed-chain mechanisms through joint freezing and joint unactuation

被引：0
|
作者：
Kim, S [1 ]
机构：
[1] Hankuk Univ Foreign Studies, Dept Control & Instrumentat Engn, Kyoungki Do 449791, South Korea
来源：
1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4 | 1998年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents the adjustment of the manipulability of a closed-chain mechanism using joint freezing/releasing and joint unactuatian/actuation, leading to the improved task adaptability. A closed-chain mechanism under consideration consists of multiple redundant subchains and individual joints can be put into frozen, actuated or unactuated mode, as needed. First, joint freezing and joint unactuation allowed for a closed-chain mechanism are examined, which limits the possible combinations of joint modes. Second, the kinematics of a closed-chain mechanism is formulated, taking into account joint freezing and joint unactuation. Third, the manipulability ellipsoids of a closed-chain mechanism with/without joint freezing and/or joint unactuation are defined and compared. Finally, the wide range of the manipulability of a closed-chain mechanism due to the changes of joint modes is exemplified.
引用
收藏
页码：2627 / 2632
页数：4
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