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Numeric Synthesis of the Control Movement of Robotics With the Redundant Constraints and Drives

[+] Author Affiliations
Alexander Gorobtsov

Volgograd State Technical University, Volgograd, Russia

Paper No. DETC2007-34503, pp. 1919-1922; 4 pages
  • ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C
  • Las Vegas, Nevada, USA, September 4–7, 2007
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4806-X | eISBN: 0-7918-3806-4
  • Copyright © 2007 by ASME


The robotics systems of arbitrary structures with closed loops, redundant constraints and drives are investigated. Propose the method of the transform redundant constraints for exclude static indefinite and provide predefines accuracy numeric solution. The method based on introduces some kinematics subchain at full kinematics chain of machine. Redundant constraints set finds by special assemble algorithms. Proposed theoretical method was incorporated at multibody dynamics simulation program FRUND. The paper presents the results computer simulation some types examples. The first types of examples are CLAWAR (walking machines). The problem of the control movement walking machine at statically unstable regimes is considering. The second type of examples is the vehicle steering and stability. The theoretical parameters of the stability walking machines and wheels car are compared.

Copyright © 2007 by ASME
Topics: Robotics



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