Dynamical modeling of kinematically deficient cooperating manipulators

S. Murat Yeşiloǧlu*, Hakan Temeltaş

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages3682-3687
Number of pages6
DOIs
Publication statusPublished - 2006
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 9 Oct 200615 Oct 2006

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Conference

Conference2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Country/TerritoryChina
CityBeijing
Period9/10/0615/10/06

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