Robotics paper index
Modular Inverse Dynamics and Wrench Recovery for Closed-Chain Mechanisms Using Path Assembly
One-line summary
A robotics research paper on Modular Inverse Dynamics and Wrench Recovery for Closed-Chain Mechanisms Using Path Assembly.
Engineering notes
Engineering notes will be added by the Robot Papers editorial team.
Chinese explanation / 中文解读
中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。
Original abstract
Rigid closed chains can admit indeterminate internal reactions even when their motion is fully specified. This paper develops a modular inverse-dynamics workflow that combines path-based motion reconstruction with recovery of uniquely determined actuator and joint-wrench outputs. Analytical second-order differentiation of assembled transformation paths supplies passive velocities and accelerations on a regular closure branch. Spatial Newton--Euler balances are then assembled over the physical body-and-joint graph. Established nullspace and dual criteria identify and recover unique outputs, while balance, ideal-joint admissibility and affine-family diagnostics assess nonunique reference reactions. Evaluation against Simscape Multibody uses prescribed motion of a seven-degree-of-freedom heavy-duty hybrid serial--parallel manipulator under common rigid-body, ideal-joint assumptions. The results show close agreement with the reference for passive positions, actuator efforts and uniquely recoverable constraint-wrench components. Reaction diagnostics support compatibility with the admissible numerical load family.
Links and sources
Need this topic turned into a technical roadmap?
Robot Papers can prepare a custom robotics literature review, code map, dataset map, and B2B technology assessment.
Request B2B research
Comments