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The relationship between controlled joint torque and end-effector force in underactuated robotic systems

Published online by Cambridge University Press:  16 August 2010

Jaeheung Park
Jaeheung Park*
Affiliation:
Seoul National University, 864-1 Iui-dong, Yeongtong-gu, Suwon-si, Gyeonggi-do, Korea
*
*Corresponding author. E-mail: park73@snu.ac.kr
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Summary

The generalized Jacobian matrix was introduced for dealing with end-effector control in space robots. One of the applications of this Jacobian is to be used in Jacobian transpose control to generate joint torques given end-effector position error. It would be misleading, however, to consider the transpose of this Jacobian as a mapping from end-effector force/moment to controlled joint torques for underactuated systems or floating base robots. This paper explains why it does not represent the mapping and provides a simple example. Later, the correct mapping is provided using the dynamically consistent Jacobian inverse and then a method to compute the actuated-joint torques is explained given the desired end-effector force. Finally, the effect of using the generalized Jacobian in the Jacobian transpose control is analyzed.

Keywords

Generalized JacobianSpace robotUnderactuationTorque–force relationship
Type
Articles
Information
Robotica , Volume 29 , Issue 4 , July 2011 , pp. 581 - 584
Copyright
Copyright © Cambridge University Press 2010

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