The Force Workspace: A Tool for the Design and Motion Planning of Multi-Limb Robotic Systems

[+] Author and Article Information
A. Madhani, S. Dubowsky

Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139

J. Mech. Des 119(2), 218-224 (Jun 01, 1997) (7 pages) doi:10.1115/1.2826239 History: Received April 01, 1993; Revised November 01, 1996; Online December 11, 2007


The Force Workspace (FW) is a tool for designing mobile robotic systems which apply large forces over large ranges of motion. It can also be used to plan motions that do not violate actuator saturation limits, system-environment force and moment contact constraints such as those due to friction, and kinematic joint limits. The FW is applied to the design analysis and motion planning of a simple robotic climbing machine.

Copyright © 1997 by The American Society of Mechanical Engineers
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