2 papers
cs.RO2026
Interaction Forces and Internal Loads in Parallel Manipulators with Actuation Redundancy
Joshua Flight, Clément Gosselin
This paper discusses null-space wrench components in parallel manipulators. We examine the adaptation of the two most common characterizations of these components in grasp-like sys…
cs.RO2026
A Generalized Theory of Load Distribution in Redundantly-actuated Robotic Systems
Joshua Flight, Clément Gosselin, Clément Gosselin
This paper presents a generalized theory which describes how applied loads are distributed within rigid bodies handled by redundantly-actuated robotic systems composed of multiple…