By Houxiang Zhang
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Of the 1998 IEEE Intl. Conf. 477-483, Belgium, May 1998. Markiewics, B. R. (1973). “Analysis of the Computer Torque Drive Method and Comparison with Conventional Position Servo for a Computer-Controlled Manipulator,” Jet Propulsion Laboratory, California Institute of Technology, TM 33-601, March 1973. Migads G. & Kyriakopoulos, J. (1997). “Design and Forward Kinematic Analysis of a Robotic Snake,” Proc. IEEE Intl. 3493-3497. Nahon, Meyer A. & Angeles, Jorge (1992). “Real-Time Force Optimization in Parallel Kinematic Chains under Inequality Constraints,” IEEE Trans.
Analysis of the Computer Torque Drive Method and Comparison with Conventional Position Servo for a Computer-Controlled Manipulator,” Jet Propulsion Laboratory, California Institute of Technology, TM 33-601, March 1973. Migads G. & Kyriakopoulos, J. (1997). “Design and Forward Kinematic Analysis of a Robotic Snake,” Proc. IEEE Intl. 3493-3497. Nahon, Meyer A. & Angeles, Jorge (1992). “Real-Time Force Optimization in Parallel Kinematic Chains under Inequality Constraints,” IEEE Trans. 439-450, Aug.
Large attitude changes occur at times when more than one segment is lifted-up at the same time. 21(b) is the plot of the sum of squares of zaxes joint forces measured during the experiment. 19(d). This experiment is an extreme case for the attitude control, when there are many segments being lifted-up from the ground at the same time. For normal manoeuvring on flat terrain or even on uneven terrain, most all wheels are in contact with the ground, so that the overall stability is much higher. 3 Angle [deg] 2 Square of force [105 N2] φx 1 0 -1 φY -2 -3 0 10 20 30 40 250 200 150 100 50 0 0 Time [s] 10 20 Time [s] (a) Attitude displacements (b) Sum of squares of z-axes joint forces Fig.