We present a general framework for the modelling of a class of mechanical systems for robotic manipulation, consisting of articulated limbs with redundant tendinous actuation and unilateral constraints. Such systems, that include biomorphically designed devices, are regarded as a collection of rigid bodies, interacting through connections that model both joints and contacts with virtual springs. Methods previously developed for the analysis of force distribution in multiple whole-limb manipulation are generalised to this broader class of mechanisms, and are shown to provide a basis for the control of co-contraction and internal forces that guarantee proper operation of the system.

P., P., Prattichizzo, D., & A., B. (1994). Articulated structures with tendon actuation for whole-limb manipulation. In Proceedings - IEEE International Conference on Robotics and Automation (pp.868-873). New York : IEEE [10.1109/ROBOT.1994.351380].

Articulated structures with tendon actuation for whole-limb manipulation

PRATTICHIZZO, DOMENICO;
1994

Abstract

We present a general framework for the modelling of a class of mechanical systems for robotic manipulation, consisting of articulated limbs with redundant tendinous actuation and unilateral constraints. Such systems, that include biomorphically designed devices, are regarded as a collection of rigid bodies, interacting through connections that model both joints and contacts with virtual springs. Methods previously developed for the analysis of force distribution in multiple whole-limb manipulation are generalised to this broader class of mechanisms, and are shown to provide a basis for the control of co-contraction and internal forces that guarantee proper operation of the system.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11365/29469