Dynamic Decoupling of Robot Manipulators (Hardcover, 1st ed. 2018)

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.

General

Imprint:	Springer International Publishing AG
Country of origin:	Switzerland
Series:	Mechanisms and Machine Science, 56
Release date:	March 2018
First published:	2018
Editors:	Vigen Arakelian
Dimensions:	235 x 155mm (L x W)
Format:	Hardcover
Pages:	188
Edition:	1st ed. 2018
ISBN-13:	978-3-319-74362-2
Categories:	Books > Professional & Technical > Electronics & communications engineering > Electronics engineering > Automatic control engineering > Robotics
LSN:	3-319-74362-7
Barcode:	9783319743622

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