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Improved task adaptability of open/closed chain mechanisms through continuous joint mode conversion

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2 Author(s)
Sungbok Kim ; Dept. of Control & Instrum. Eng., Hankuk Univ. of Foreign Studies, Kyoungki, South Korea ; Jong Gap Choi

Presents a simple and effective way of improving the task adaptability of redundant open/closed chain mechanisms based on joint locking/unactuation and continuous joint mode conversion. The joint locking/unactuation in an open/closed chain mechanism is incorporated in the kinematics/statics of the mechanism, and the varying kinematic characteristics depending on the distribution of frozen/passive joints is analyzed. The discontinuity in joint velocity/torque of an open/closed chain mechanism, incurred when the joint mode switching is done abruptly, is described. Two methods of the continuous joint mode conversion for a short transition interval are proposed and compared. Finally, simulation results for a planar redundant open chain mechanism employing joint locking are given

Published in:

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on  (Volume:3 )

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