Interaction Forces and Internal Loads in Parallel Manipulators with Actuation Redundancy
The paper addresses how to correctly characterize null-space wrench components in parallel manipulators with redundant actuators. It critiques existing methods used for grasp systems, showing they fail because parallel robot wrench mappings are governed by Jacobian matrices. The authors propose a generalized framework using a Riemannian Metric Tensor to synthesize joint torques, ensuring that interaction forces and internal loads are treated as distinct physical phenomena.