Journal of Mechanical Science and Technology

The Korean Society of Mechanical Engineers (대한기계학회)
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Analysis of Internal Loading at Multiple Robotic Systems

  • Chung Jae Heon (School of Electrical Engineering and Computer Science, Hanyang University) ;
  • Yi Byung-Ju (School of Electrical Engineering and Computer Science, Hanyang University) ;
  • Kim Whee Kuk (Department of Control and Instrumentation Engineering, Korea University)
  • Published : 2005.08.01
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Abstract

When multiple robotics systems with several sub-chains grasp a common object, the inherent force redundancy provides a chance of utilizing internal loading. Analysis of grasping space based internal loading is proposed in this work since this method facilitates understanding the physical meaning of internal loadings in some applications, as compared to usual operational space based approach. Investigation of the internal loading for a triple manipulator has been few as ,compared to a dual manipulator. In this paper, types of the internal loading for dual and triple manipulator systems are investigated by using the reduced row echelon method to analyze the null space of those systems. No internal loading condition is derived and several load distribution schemes are compared through simulation. Furthermore, it is shown that the proposed scheme based on grasping space is applicable to analysis of special cases such as three-fingered and three-legged robots having a point contact with the grasped object or ground.

Keywords

References

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