Abstract
Force-torque analysis of open serial kinematic structures is considered in this work. Vector representation of force and torque balance equalities embody the common starting point of both the direct and the inverse task of the static analysis. The direct task is to establish prismatic joint forces and revolute joint torques, caused by an external endpoint force, torque, and the gravity of links, in the given endpoint position and orientation. The inverse kinematics is involved in this problem. Redundant structures admit additional restrictions in the form of the cost function depending on joint variables. The inverse task is to establish the external force and torque, having measured forces in prismatic and torques in revolute joints in the given position of joints. The aim of the paper is to present the solution of the direct task and the way how to construct equations for the inverse force-torque task.
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