Inverse Dynamics of Multilink Cable-Driven Manipulators With the Consideration of Joint Interaction Forces and Moments
Darwin Lau, Denny Oetomo, Saman K Halgamuge
IEEE TRANSACTIONS ON ROBOTICS | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | Published : 2015
Joint interaction forces and moments play a significant role within multilink cable-driven manipulators (MCDMs). In this paper, the consideration of joint interaction forces and moments in the objective function and constraints specific to the inverse dynamics of MCDMs are considered for the first time. By formulating the relationship between the joint interactions and cable forces, it is shown that the minimization of the joint interactions results in a convex quadratic program. Furthermore, the inclusion of constraints to maintain the stability of unilateral spherical joints results in a quadratically constrained quadratic program. Simulation results of the proposed formulations on two-lin..View full abstract
Related Projects (1)
Awarded by Australian Research Council
Awarded by European CoDyCo Project
This work was supported in part by the Australian Research Council funding DP1093476, the French National Project OSEO ROMEO-2 and the European CoDyCo Project (FP7-ICT-2011-9, 600716).