Design of Adjustable Serial Manipulators with Decoupled Dynamics
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In this chapter, a new approach for dynamic decoupling of serial planar manipulators, which is a symbiosis of mechanical and control solutions is proposed. It is based on the opposite motion of manipulator links and the optimal command design. The opposite motion of links with optimal redistribution of masses allows the cancellation of the coefficients of nonlinear terms in the manipulator’s kinetic and potential energy equations. Then, based on this completely linearized and decoupled manipulator, the simple linear control method is used. Furthermore, the changing payload is taken into account 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.