Kinetostatics of a serial robot in screw form

摘要

Kinetostatics of a robot is an essential component of robotic analysis that includes actuation distribution and torque control. The extant methods mainly include the static transfer formulae and force Jacobian matrix algorithms based on the Denavit-Hartenberg (D-H) method. They can calculate the joint driving torque, but there are some limitations. This paper proposes a kinetostatics approach for analyzing the driving torque of serial manipulators. The instantaneous work done by the external load is expressed with reciprocal screw. It is the key idea of the approach to derive the kinetostatics equation in screw form and determine the required torque at each joint. This methodology is straightforward for programming. Through kinetostatic analysis of some typical serial manipulators, this paper shows the process of establishing the kinetostatics of every joint to calculate the torque in Plücker coordinates. The general spatial manipulator was analyzed and the solution demonstrates the universality of the method presented in this paper. In addition, the kinetostatic analysis method applies to all kinds of serial manipulators.