Dynamic Decoupling Of Robot Manipulators
Download Dynamic Decoupling Of Robot Manipulators full books in PDF, epub, and Kindle. Read online free Dynamic Decoupling Of Robot Manipulators ebook anywhere anytime directly on your device. Fast Download speed and no annoying ads. We cannot guarantee that every ebooks is available!
Dynamic Decoupling of Robot Manipulators
Author | : Vigen Arakelian |
Publisher | : Springer |
Total Pages | : 193 |
Release | : 2018-02-20 |
Genre | : Technology & Engineering |
ISBN | : 3319743635 |
Download Dynamic Decoupling of Robot Manipulators Book in PDF, Epub and Kindle
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.
Dynamic Decoupling of Robot Manipulators Related Books
Pages: 193
Pages: 304
Pages: 371
Pages: 356
Pages: 334