Simplification and Linearization of Manipulator Dynamics by the Design of Inertia Distribution

This paper presents a new approach to designing a simple manipulator with better dynamic behavior. The method is based on eliminating coefficients of nonlinear terms in the system's kinetic and potential energy equations. Accordingly, a set of design criteria regarding the link's inertia d...

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Bibliographic Details
Published in:The International journal of robotics research 1986-09, Vol.5 (3), p.120-128
Main Authors: Yang, D.C.H., Tzeng, S.W.
Format: Article
Language:English
Subjects:
Applied sciences
Exact sciences and technology
Material handling, hoisting. Storage. Packaging
Transfert equipment, manipulators
industrial robots
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Summary:This paper presents a new approach to designing a simple manipulator with better dynamic behavior. The method is based on eliminating coefficients of nonlinear terms in the system's kinetic and potential energy equations. Accordingly, a set of design criteria regarding the link's inertia distribu tion can be established for each robot type. A robot designed to satisfy these criteria will result in much simplified dy namics. Also we find that for some configurations of three- and four-link robots, it is possible to design for completely linearized dynamic equations.
ISSN:0278-3649
1741-3176
DOI:10.1177/027836498600500307