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.
Get full access to this article
View all access options for this article.
References
1.
Asada, H.1983 (Sept.). A geometrical representation of manipulator dynamics and its application to arm design. ASME J. Dyn. Sys., Meas., Contr 105:131-135.
2.
Asada, H. and Youcef-Toumi, K.1984 (Sept.). Analysis and design of a direct-drive arm with a five-bar-link parallel mechanism. ASME J. Dyn. Sys. Meas., and Contr. 106(3):225-230.
3.
Bejczy, A.K.1974 (Feb.). Robot arm dynamics and control. TM 33-669 . Pasadena, California: Jet Propulsion Laboratory, California Institute of Technology.
4.
Freund, E.1982. Fast nonlinear control with arbitrary pole-placement for industrial robots and manipulators. Int. J. Robotics Res.1(1):65-78.
5.
Hollerbach, J.M.1980. A recursive formulation of Lagrangian manipulator dynamics and a comparative study of dynamics formulation complexity. IEEE Trans. Sys., Man, Cyber. SMC-10 (11):730-736.
6.
Luh, J.Y.S., Walker, M.W., and Paul, R.P., 1980. On-line computational scheme for mechanical manipulators . ASME J. Dyn. Sys. Meas., Contr.102(2):69-76.
7.
Paul, R.P.1972 (Nov.). Modeling, trajectory calculation, and servoing of a computer controlled arm. AIM 177. Stanford, Calif. : Stanford University, Artificial Intelligence Laboratory .
