A methodology for controlling motion and constraint forces in holonomically constrained systems

摘要: Holonomic constraints are ubiquitous in multibody systems. We present an approach to effectively address the control of holonomically constrained systems using a novel decomposition task, constraint, and posture space. In addition providing natural for motion presence constraints, this scheme also allows concurrent specification desired constraint forces, given sufficient actuation. It does by exposing both coordinates forces within formalism, allowing substantial flexibility synthesis. Implementations presented based on partitioning into controlled uncontrolled subsets, as well implicit conditions forces. A number examples demonstrate practical efficacy approach. Finally, system-level methodology management during robot interactions with environment is presented.