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Robotics Research pp 33–44Cite as

A General Formulation of Under-Actuated Manipulator Systems

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Abstract

This paper discusses a general formulation both in kinematics and dynamics for under-actuated manipulator systems, represented by a free-joint manipulator, a free-floating manipulator, a flexible-base manipulator and a flexible-arm manipulator. We highlight the fact that a concept, originally developed for a particular system, is applicable to the others as well because the dynamic equations of all four systems show common characteristics. Examples of such concepts are the generalized Jacobian matrix and the generalized inertia tensor which were originally developed for a free-floating manipulator, and also the reaction null-space concept, which was introduced for a free-floating and a flexible-base manipulator. We show also that the differences of the four systems are essentially due to the integrability conditions.

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Author information

Authors and Affiliations

  1. Dept. of Aeronautics and Space Engineering, Tohoku University, Aobayama campus, Sendai, 980-77, Japan

    Kazuya Yoshida & Dragomir N. Nenchev

Authors
  1. Kazuya Yoshida
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  2. Dragomir N. Nenchev
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Editor information

Editors and Affiliations

  1. Department of Compter-Controlled Machine Systems, Faculty of Engineering, Osaka University 2-1, Yamadaoka, Suita, 565, Japan

    Yoshiaki Shirai

  2. Mechano-Aerospace, Faculty of Engineering, Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo, 152, Japan

    Shigeo Hirose

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© 1998 Springer-Verlag London Limited

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Yoshida, K., Nenchev, D.N. (1998). A General Formulation of Under-Actuated Manipulator Systems. In: Shirai, Y., Hirose, S. (eds) Robotics Research. Springer, London. https://doi.org/10.1007/978-1-4471-1580-9_4

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  • DOI: https://doi.org/10.1007/978-1-4471-1580-9_4

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-4471-1582-3

  • Online ISBN: 978-1-4471-1580-9

  • eBook Packages: Springer Book Archive

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