Residual force polytope: Admissible task-space forces of dynamic trajectories

We propose a representation for the set of forces robot can counteract using full system dynamics: residual force polytope. Given nominal torques required by dynamic motion, this models which be sustained without interfering with that motion. The polytope used to analyze and compare admissible different trajectories, but it also define metrics solving optimization problems, such as in trajectory or design. demonstrate how metric applied against other objective functions typically used. Our results show trajectories computed optimizing objectives defined are more robust unknown external disturbances. computational cost these is relatively high not compatible short planning times online methods, they acceptable motions offline.