| Efficient computation and parameterization of the dynamics of closed kinematic chains is considered. First, we propose systematic and efficient computation of inverse dynamics for general closed-link mechanism. To account for constraints, only Jacobian matrix of passive joint angles in terms of the actuated ones is required. For nonredundant actuator systems, this allows unique representation of the constraints even for multi-loop closed-link mechanisms. It is computationally efficient because computation of Lagrange multipliers is not required. Closed-link mechanisms that contain redundant actuators and optimization of their redundancy is also discussed. Such mechanisms are underdeterminate in computing their inverse dynamics. Hence, for a redundant actuation system with N... |
