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Definition of "kineto-static duality" |
the static relationship combined with the differential kinematics equation defines a kineto-statics duality.For the description of differential kinematics.See differential kinematics. The static relationship describes the end point force and equivalent joint generalized force balance assuming that we neglect gravity and friction at the joints. This relationship is described by the transpose of the manipulator Jacobian and has the form τ = J'F ,where F is a vector of exerted end point forces and τ is a vector of joint generalized forces. As a consequence of the last definition, the following properties can be defined.1. The range of J' is the subspace R(J') in Rn of the joint forces and/or torques that can balance the end-effector forces, in the given manipulator posture. |
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