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Dynamic Decoupling of Robot Manipulators (Paperback, Softcover reprint of the original 1st ed. 2018)
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Dynamic Decoupling of Robot Manipulators (Paperback, Softcover reprint of the original 1st ed. 2018)
Series: Mechanisms and Machine Science, 56
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This book presents the latest results in the field of dynamic
decoupling of robot manipulators obtained in France, Russia, China
and Austria. Manipulator dynamics can be highly coupled and
nonlinear. The complicated dynamics result from varying inertia,
interactions between the different joints, and nonlinear forces
such as Coriolis and centrifugal forces. The dynamic decoupling of
robot manipulators allows one to obtain a linear system, i.e.
single-input and single output system with constant parameters.
This simplifies the optimal control and accumulation of energy in
manipulators. There are two ways to create the dynamically
decoupled manipulators: via optimal mechanical design or control.
This work emphasises mechatronic solutions. These will certainly
improve the known design concepts permitting the dynamic decoupling
of serial manipulators with a relatively small increase in total
mass of the moving links taking into account the changing payload.
For the first time such an approach has been applied on serial
manipulators. Also of great interest is the dynamic decoupling
control of parallel manipulators. Firstly, the dynamic model of
redundant multi-axial vibration table with load has been
established, and, secondly, its dynamic coupling characteristics
have been analyzed. The discussed methods and applications of
dynamic decoupling of robot manipulators are illustrated via CAD
simulations and experimental tests.
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