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;
1994-01-01
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.
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
https://hdl.handle.net/11365/29469