Unit Force Method algorithm

Because this approach is based on the application of spatial unit forces at the end effector, we will call it the Unit Force Method. The complete algorithm for the Unit Force Method (Method II) for calculating the ( rational space inertia matrix of a serial iV-link manipulator is given in Table 4.3. Note, once again. 

The two tables differ only in the algorithm used to compute the inverse operational space inertia matrix, A and the coefficient fl. In Chapter 4, the efficient computation of these two quantities was discussed in some detail. It was detomined that the Unit Force Method (Method II) is the most efficient algorithm for these two matrices together for N < 21. The Force Propagation Method (Method ni) is the best solution for and fl for AT > 21. The scalar opmtions required for Method II are used in Table 5.1, while those required for Method III are used in Table 5.2. 

Calculation of the critical lateral force is more complicated because traditional LFM does not provide us with easy method to translate current units into force ones. There is no way to define the factor of proportionality until calibration algorithm was developed recently by ourselves [8], The required coefficient depends on design of a microscope, adjustment of the optical system, torsion force constant kL of cantilever and tip height lnp. 

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