提出冗余驱动机器人系统中载荷分布的通用理论，解决多机械臂协同受力难题。
A Generalized Theory of Load Distribution in Redundantly-actuated Robotic Systems
- 构建了多闭链机器人系统载荷分布的完整数学模型
- 给出高效计算方法，线性扩展且无需矩阵求逆
- 适用于多指夹持器、足式机器人等复杂系统
本文提出一种通用理论，描述由多个独立闭链运动学链组成的冗余驱动机器人系统中刚体所受载荷的分布规律。该理论完整刻画了在给定作用于刚体的合力偶（resultant wrench）下，可实现的操纵力偶（manipulating wrench）集合，并对多指夹持器、足式机器人、协作机器人及其他过约束机构的力控制具有重要意义。文中推导出力偶合成与力偶分析问题的显式解，计算高效，随作用力偶数量线性增长，无需数值方法或大型矩阵求逆。最后，识别出现有最先进方法的关键缺陷并提出修正方案，通过示例和仿真验证了改进方法的优势。
原文摘要 · Abstract (English)
This paper presents a generalized theory which describes how applied loads are distributed within rigid bodies handled by redundantly-actuated robotic systems composed of multiple independent closed-loop kinematic chains. The theory fully characterizes the feasible set of manipulating wrench distributions for a given resultant wrench applied to the rigid body and has important implications for the force-control of multifingered grippers, legged robots, cooperating robots, and other overconstrained mechanisms. We also derive explicit solutions to the wrench synthesis and wrench analysis problems. These solutions are computationally efficient and scale linearly with the number of applied wrenches, requiring neither numerical methods nor the inversion of large matrices. Finally, we identify significant shortcomings in current state-of-the-art approaches and propose corrections. These are supported by illustrative examples and a simulation that demonstrate the advantages of the improved methods.
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