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Performance Analysis of Kinematic and Actuation Redundancy in a Closed Link Manipulator

  • Timo Ropponen
  • Yoshihiko Nakamura
Conference paper

Abstract

In this paper, we propose a closed link mechanism for kinematically redundant direct-drive manipulators and discuss its redundant actuation. The mechanism is kinematically equivalent to four joints of the shoulder through the elbow of an anthropomorphic 7 DOF manipulator. The mechanism uses five direct-drive motors to control 3 DOF position of the endeffector. One DOF exhibits kinematical redundancy and another DOF demonstrates actuation redundancy. A new parameterization that always allows full utilization of actuation redundancy is proposed. The advantage of actuation redundancy is numerically demonstrated.

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Copyright information

© Springer-Verlag Wien 1991

Authors and Affiliations

  • Timo Ropponen
    • 1
  • Yoshihiko Nakamura
    • 2
  1. 1.Department of Mechanical EngineeringHelsinki University of TechnologyEspooFinland
  2. 2.Center for Robotic Systems in Microelectronics and Mechanical and Environmental EngineeringUniversity of CaliforniaSanta BarbaraUSA

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