Dynamic Decoupling of Adjustable Serial Manipulators Taking into Account the Changing Payload
暂无分享,去创建一个
This paper deals with the problem of dynamic decoupling of adjustable serial manipulators with changing payload. Without payload, this kind of manipulator can accomplish the dynamic decoupling via opposite rotation of links and optimal redistribution of masses. However, the introduction of the changing payload leads to the perturbation of dynamic decoupling of the manipulator. In order to eliminate such a perturbation, the optimal control design is discussed. The proposed approach, which is a symbiosis of mechanical and control solutions, improves the known design concepts permitting the dynamic decoupling of serial manipulators taking into account the changing payload. The efficiency of the proposed technique is evaluated by using MATLAB software.
[1] Liang Yong,et al. Decoupling of dynamic equations by means of adaptive balancing of 2-dof open-loop mechanisms , 2004 .
[2] S. Sargsyan,et al. On the design of serial manipulators with decoupled dynamics , 2012 .
[3] V. F. Filaretov,et al. Static balancing and dynamic decoupling of the motion of manipulation robots , 1993 .
[4] Matthew T. Mason,et al. Robot Motion: Planning and Control , 1983 .