TY - GEN
T1 - Dynamical modeling of kinematically deficient cooperating manipulators
AU - Yeşiloǧlu, S. Murat
AU - Temeltaş, Hakan
PY - 2006
Y1 - 2006
N2 - Kinematically deficient manipulators are those that have fewer degrees of freedom than necessary to achieve any admissible configuration in their operational space. When multiple manipulators, some or all of which are kinematically deficient, cooperate to perform a common task, the constrained forces at the contact points cannot be solved directly due to rank deficiency of the jacobian. This paper addresses this challenge associated with the computation of constrained forces at the contact points by introducing a novel approach called "pseudo joint." Forward dynamical model utilizing pseudo joint has been driven for cooperating kinematically deficient manipulators. Dynamics of two-wheeled cart falls under kinematically deficient manipulator when considered from cooperating manipulator approach and it has been given as an example to demonstrate the methodology.
AB - Kinematically deficient manipulators are those that have fewer degrees of freedom than necessary to achieve any admissible configuration in their operational space. When multiple manipulators, some or all of which are kinematically deficient, cooperate to perform a common task, the constrained forces at the contact points cannot be solved directly due to rank deficiency of the jacobian. This paper addresses this challenge associated with the computation of constrained forces at the contact points by introducing a novel approach called "pseudo joint." Forward dynamical model utilizing pseudo joint has been driven for cooperating kinematically deficient manipulators. Dynamics of two-wheeled cart falls under kinematically deficient manipulator when considered from cooperating manipulator approach and it has been given as an example to demonstrate the methodology.
UR - http://www.scopus.com/inward/record.url?scp=34250666116&partnerID=8YFLogxK
U2 - 10.1109/IROS.2006.281726
DO - 10.1109/IROS.2006.281726
M3 - Conference contribution
AN - SCOPUS:34250666116
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3682
EP - 3687
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -