Dynamic Decoupling of Robot Manipulators

Language: English

Published by Springer International Publishing, Springer International Publishing Mär 2018, 2018

3319743627 / 9783319743622

Series: Book 49 of 139 - Mechanisms and Machine Science

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This item is printed on demand - Print on Demand Titel. Neuware -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.Springer Verlag GmbH, Tiergartenstr. 17, 69121 Heidelberg 196 pp. Englisch.

Seller Inventory # 9783319743622

Title
Dynamic Decoupling of Robot Manipulators
Author
Vigen Arakelian
Publisher
Springer International Publishing, Springer International Publishing Mär 2018
Publication year
2018
Condition
Neu
Binding
Buch
Language
English
ISBN 10
3319743627
ISBN 13
9783319743622
Item weight
465 grams
Dimensions
241x160x17 mm
Series
Book 49 of 139: Mechanisms and Machine Science

buchversandmimpf2000

Emtmannsberg, BAYE, Germany

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