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Titlebook: Dynamic Decoupling of Robot Manipulators; Vigen Arakelian Book 2018 Springer International Publishing AG 2018 Mechatronic Design.Decoupled

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書目名稱Dynamic Decoupling of Robot Manipulators
編輯Vigen Arakelian
視頻videohttp://file.papertrans.cn/284/283574/283574.mp4
概述Includes mechanical and control solutions.Illustrates solutions via CAD.Casts new light on manipulator Dynamics
叢書名稱Mechanisms and Machine Science
圖書封面Titlebook: Dynamic Decoupling of Robot Manipulators; Vigen Arakelian Book 2018 Springer International Publishing AG 2018 Mechatronic Design.Decoupled
描述.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
出版日期Book 2018
關(guān)鍵詞Mechatronic Design; Decoupled Dynamics; Linearized Dynamics; Serial Manipulators; Optimal Control
版次1
doihttps://doi.org/10.1007/978-3-319-74363-9
isbn_softcover978-3-030-08973-3
isbn_ebook978-3-319-74363-9Series ISSN 2211-0984 Series E-ISSN 2211-0992
issn_series 2211-0984
copyrightSpringer International Publishing AG 2018
The information of publication is updating

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Tolerance Analysis of Serial Manipulators with Decoupled and Coupled Dynamics,ng introduced some performance indices of the manipulators, the tolerance capabilities of four manipulators are analyzed. In order to quantify the influencing degree, two kinds of the indices are defined. They are angular error and position error. Two kinds of simulation are designed here. The first
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Design and Analysis of the 6-DOF Decoupled Parallel Kinematics Mechanism,oning device. The spatial 6-DOF mechanism is examined in this chapter. The mechanism studied has both kinematic and dynamic decoupling. The kinematic problem solution is presented. The control algorithm of handling PMs was tested on the basis of nonlinear systems control theory. The velocity and con
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Design of Adjustable Serial Manipulators with Decoupled Dynamics,t as a forward compensation in the controller. Finally, in order to stabilize the manipulator linearized and decoupled, a full state feedback is set up. The suggested design methodology is illustrated by simulations carried out using ADAMS and MATLAB software, which have confirmed the efficiency of the developed approach.
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Design and Analysis of the 6-DOF Decoupled Parallel Kinematics Mechanism,problem solution is presented. The control algorithm of handling PMs was tested on the basis of nonlinear systems control theory. The velocity and control problems were solved with the use of dynamic and kinematic decoupling.
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