Publications

Huang, MZ & Waldron, KJ 1989, 'An Efficient Rate Allocation Algorithm in Redundant Kinematic Chains', Journal of Mechanisms, Transmissions, and Automation in Design, vol. 111, no. 4, pp. 545-554.
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This paper addresses a basic problem which arises in the coordination of serial chain manipulators, namely, that of decomposing a given end effector velocity state into a set of joint rates. Such a problem is indeterminate for manipulators with kinematic redundancy. A novel method of solving the rate distribution problem for the class of fully revolute-jointed, serial manipulators is developed. The technique is an extension of the axial field solution scheme developed initially for solving the force allocation problem in a statically indeterminate parallel chain system. The basis of the solution method lies in the dualities of velocity and force systems between series and parallel mechanisms. The method offers an efficient means of rate coordination and is especially useful in the control of manipulators with high degrees of redundancy. Two examples have been given for illustration. It is shown that the minimum norm solution, obtainable commonly from pseudoinverse, can also be achieved using this new efficient algorithm.

Kumar, V & Waldron, KJ 1989, 'Suboptimal algorithms for force distribution in multifingered grippers', IEEE Transactions on Robotics and Automation, vol. 5, no. 4, pp. 491-498.
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Stauffer, LA & Slaughterbeck-Hyde, RA 1970, 'The Nature of Constraints and Their Effect on Quality and Satisficing', 1st International Conference on Design Theory and Methodology, ASME 1989 Design Technical Conferences, American Society of Mechanical Engineers.
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Abstract A taxonomy of constraints is presented based on design considerations, source, context, strength, and use. The taxonomy is developed from observations of two sets of real-time protocol data of mechanical designers, along with the work of other researchers. The taxonomy begins to explain the nature of constraints. A hypothesis of how introduced constraints affect design quality is also presented. Finally, a more specific definition of satisficing is developed based on an experiment demonstrating constraint satisfaction.