Abstract:
In this paper a
new concept force constraint is developed. The force constraint
may be classified as three general categories, i.e. joint force
constraint, relative force constraint and external force
constraint. Equations of force constraints are given in the
paper. The dynamic model with kinematic constraints and force
constraints is developed based on Kane's equations developed by
Huston et al. As an example, a planar redundant robot is
considered.
Key words:
Dynamics Multibody system Force
constraints
* This project is supported by National Natural Science Foundation of
China. Manuscript received on March 30, 1993
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