Mathematical formulation of constrained robot systems: a unified approach
Journal
Mechanism and Machine Theory
Journal Volume
27
Journal Issue
6
Pages
687-700
Date Issued
1992
Author(s)
Huang, H.-P.
Abstract
A robot is constrained if its end effector cannot freely move. The constraints imposed on the robot may be external, internal or both. The external constraints is due to the robot end effector in contact with external environment. The internal constraints is due to the robot structure when some of robot links from a closed loop. When a robot with an internal closed loop structure is in contact with the external environment, the constraints are two-fold: external and internal. This paper presents a unified formulation for externally constrained and internally constrained robots. The well-posedness of the formulation is justified. In addition, we discuss the relation between constrained robot formulation and a singular system of differential equations. © 1992.
Type
journal article