Multi-limb, mobile robotic systems will need to apply large forces over large ranges of motion. This paper presents the Force-Workspace Approach which can be used to plan the activities of such systems allowing them to execute such tasks without violating actuation limits, frictional constraints with their environments, and joint range of motion limits. The technique is applied to a robotic climbing machine.
多肢移动机器人系统需要在大运动范围内施加大的力。本文提出了一种力工作空间方法，该方法可用于规划此类系统的活动，使它们在不违反驱动限制、与环境的摩擦约束和关节运动范围限制的情况下执行此类任务。该技术已应用于机器人攀岩机。
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