On the Modeling of the Contact Forces of Constrained Robots

摘要: In this paper, the modeling of contact forces between end effector a robot and an external body is considered; descriptor model examined in depth. It shown that can handle same tasks coverd by classical approaches if constraints are carefully practically defined. The task oriented method presented, introduces space as starting point finding kinematic which cover large class including machining assembling. constraint equations be then transformed to desired or frame; while it assured rank condition always easily checked.