Simplification and Linearization of Manipulator Dynamics by the Design of Inertia Distribution
- 1 September 1986
- journal article
- research article
- Published by SAGE Publications in The International Journal of Robotics Research
- Vol. 5 (3) , 120-128
- https://doi.org/10.1177/027836498600500307
Abstract
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.Keywords
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