Abstract
An investigation is made of how physical quantities such as velocities, forces, and admittance and impedance matrices transform between task-space and joint-space of redundant manipulators. It is found that parallel redundant manipulators have joint-space force redundancy. The joint-space velocities are subjected to constraints, the violation of which would induce mechanical failure of the manipulator. Serial redundant manipulators, on the other hand, have a higher DOF only in joint-space velocities. The joint-space forces, in this case, are subjected to constraints, the violation of which would require infinite joint velocities.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 949-954 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE International Conference on Systems, Man and Cybernetics |
| Volume | 2 |
| State | Published - Dec 1 1991 |
| Event | Conference Proceedings of the 1991 IEEE International Conference on Systems, Man, and Cybernetics - Charlottesville, VA, USA Duration: Oct 13 1991 → Oct 16 1991 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Hardware and Architecture