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Dynamic Decoupling of Robot Manipulators
Paperback
Series: Mechanisms and Machine Science, Book 56
Technology & EngineeringGeneral Mathematics
ISBN13: 9783030089733
Publisher: Springer Nature
Published: Jan 24 2019
Pages: 188
Weight: 0.63
Height: 0.42 Width: 6.14 Depth: 9.21
Language: English
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.
The discussed methods and applications of dynamic decoupling of robot manipulators are illustrated via CAD simulations and experimental tests.
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