1993 年 11 巻 6 号 p. 913-917
Closed link mechanisms are useful for tasks that require high speed, high precision, and large payload capacity. It is expected that this kind of mechanisms will be used widely in future. A closed link mechanism with redundant actuators, which is called redundant actuator system, has the potential to make the maximum payload larger.
This paper discusses computational schemes of the inverse and forward dynamics of closed link mechanisms with redundant actuators, which are applicable to wider cases than former method. Then we give an example of cooperative manipulation by two robot arms, and the inverse dynamics is given using the proposed computational scheme. The proposed method enables us to obtain a general solution of closed link dynamics without calculating internal forces.