Planning Motions Of Robotic Systems Subject To Force And Friction Constraints With An Application To A Robotic Climber

Abstract:  Multi-limb robots able to apply large forces over large ranges of motion are needed for many tasks. These tasks may strain a system's actuation capabilities and its ability to maintain secure contact with its environment. The Force-Workspace Approach is presented and used to plan a system's activities without violating actuation limits or frictional constraints with their tasks and environments. The technique is applied to the example of a robotic climbing machine. 1. INTRODUCTION Mobile, multi-limb systems have been proposed to perform hazardous missions such as space construction and repair, planetary exploration, and toxic-waste clean-up [1, 2]. These systems will need to move through large ranges of motions while applying large forces. Unlike conventional industrial robots, mobile systems will not be firmly attached to a factory floor and can lose handholds or footings, or overturn. In addition, their actuators will be limited by their need to be lightweight and power efficient, ...