Overview
- Includes mechanical and control solutions
- Illustrates solutions via CAD
- Casts new light on manipulator Dynamics
Part of the book series: Mechanisms and Machine Science (Mechan. Machine Science, volume 56)
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Table of contents (7 chapters)
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Front Matter
Keywords
About this book
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.
Editors and Affiliations
Bibliographic Information
Book Title: Dynamic Decoupling of Robot Manipulators
Editors: Vigen Arakelian
Series Title: Mechanisms and Machine Science
DOI: https://doi.org/10.1007/978-3-319-74363-9
Publisher: Springer Cham
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer International Publishing AG 2018
Hardcover ISBN: 978-3-319-74362-2Published: 01 March 2018
Softcover ISBN: 978-3-030-08973-3Published: 24 January 2019
eBook ISBN: 978-3-319-74363-9Published: 20 February 2018
Series ISSN: 2211-0984
Series E-ISSN: 2211-0992
Edition Number: 1
Number of Pages: VII, 188
Number of Illustrations: 89 b/w illustrations, 6 illustrations in colour
Topics: Control, Robotics, Mechatronics, Vibration, Dynamical Systems, Control, Computational Mathematics and Numerical Analysis, Artificial Intelligence