THIS PAPER DEVELOPS A SYSTEMATIC MODELING OF A ROBOT WITH CLOSED LOOPS USING SOME USEFUL GUIDELINES. IN FORMING A CLOSED LOOP, MANY PAIRS ARE USED IN REDUNDANCY DUE TO SIMPLE MANUFACTURING AND HIGH STIFFNESS, WHICH IN RETURN GENERATE REDUNDANCY AND PASSIVITY PROBLEMS IN MODELING. THE REDUNDANCY OF A CLOSED LOOP AND MUTUAL RELATIONSHIPS BETWEEN THE KINEMATIC LOWER PAIRS ARE STUDIED FOR PROPER KINEMATIC MODELING OF A ROBOT WITH CLOSED LOOPS. THE ALGORITHM BASED ON THE STUDY PROVIDES A TROUBLE-FREE MODELING OF A ROBOT WITH CLOSED LOOPS AS SHOWN IN THE EXAMPLES.
| Number of Pages : | 13 |
| Published : | 06/01/1991 |
