Dynamic Decoupling of Planar Serial Manipulators with Revolute Joints

This chapter deals with a new dynamic decoupling principle, which involves connecting to a serial manipulator with revolute joints a two-link group forming a Scott-Russell mechanism with the initial links of the manipulator. The opposite motion of links in the Scott-Russell mechanism combined with optimal redistribution of masses allows the cancellation of the coefficients of nonlinear terms in the manipulator’s kinetic and potential energy equations. Then, by using the optimal control design, the dynamic decoupling due to the changing payload is achieved. The suggested design methodology is illustrated by simulations carried out using ADAMS and MATLAB software, which have confirmed the efficiency of the developed approach.