The unified formulation of constrained robot systems

Abstract

Four types of constrained robot systems are analyzed: the robot in contact with its environment, the robot with a jig band, two robots carrying a common load, and the robot with internal constraints. A unified formulation of the systems is given using singular systems of differential equations. The formulation poses problems in controller design, trajectory planning, and system simulation that require further work.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>