The general characteristic of rootless multi-body system and underactuated redundant robots is essentially dynamic systems with second-order nonholonomic constraints. The configuration space constraints equations can not realize the control request, which is generally based on dynamic equation. The constraints of these systems are mainly on velocity and acceleration and in general not integral. Therefore, the research on the characteristic of coupling motion of this kind of robots system is the basis of the controllability analysis. Based on dynamic nominal mechanism method and the differential and variation theory of nonholonomic system, the dynamic model of rootless underactuated redundant system is built, from which the second-order nonholonomic constraint equations of the system and the acceleration expressions of passive joints are derived based on the decoupling of nominal mechanism, active and passive joints. According to the defined performance indices for describing the coupling motion of passive joint, the influence of the active joints’ position on controllability of the robot are simulated. The beneficial conclusion for controllability performance advance of rootless underactuted redundant robot are obtained, which provides reference for actual input control of robots.
LI Na1
,
ZHAO Tieshi2
,
JIANG Haiyong1
,
WANG Jiazhong1
. Research on Dynamic Coupling Characteristic of Rootless Underactuated Redundant Robots[J]. Journal of Mechanical Engineering, 2016
, 52(9)
: 49
-55
.
DOI: 10.3901/JME.2016.09.049
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