The Force Workspace: a Tool for the Design and Motion Planning of Multi–limb Robotic Systems
نویسندگان
چکیده
The Force Workspace (FW) is a tool for designing mobile robotic systems which apply large forces over large ranges of motion. It can also be used to plan motions that do not violate actuator saturation limits, system-environment force and moment contact constraints such as those due to friction, and kinematic joint limits. The FW is applied to the design analysis and motion planning of a simple robotic climbing machine.
منابع مشابه
Motion planning of mobile multi-limb robotic systems subject to force and friction constraints
Multi-limb, mobile robotic systems will need to apply large forces over large ranges of motion. This paper presents the Force-Workspace Approach which can be used to plan the activities of such systems allowing them to execute such tasks without violating actuation limits, frictional constraints with their environments, and joint range of motion limits. The technique is applied to a robotic cli...
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تاریخ انتشار 1997