An analysis of the kinematics and dynamics of underactuated manipulators
نویسندگان
چکیده
In this paper we study the dynamics and kinematics of manipulators that have fewer actuators than degrees of freedom. These under{actuated manipulators arise in a number of important applications such as free{ ying space robots, hyper{redundant manipulators, manipulators with structural exibility, etc. In our analysis we decompose such under{actuated manipulators into component active and passive arms. This decomposition allows techniques previously developed for regular (fully{actuated) manipulators to be applied to under{actuated systems. Spatial operator identities are used to develop closed{form expressions for the generalized accelerations for the system. These expressions form the basis for a recursive O(N ) dynamics algorithm. The structure of this algorithm is a hybrid of known forward and inverse dynamics algorithms for regular manipulators. We also develop expressions and computational algorithms for the generalized and disturbance Jacobians for under{actuated manipulators. The application of the results in this paper to space manipulators is also described.
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ورودعنوان ژورنال:
- IEEE Trans. Robotics and Automation
دوره 9 شماره
صفحات -
تاریخ انتشار 1993