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Dynamic Decoupling of Robot Manipulators

Jezik EngleskiEngleski
Knjiga Tvrdi uvez
Knjiga Dynamic Decoupling of Robot Manipulators Vigen Arakelian
Libristo kod: 18679895
Nakladnici Springer International Publishing AG, ožujak 2018
This book presents the latest results in the field of dynamic decoupling of robot manipulators obtai... Cijeli opis
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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.

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Informacije o knjizi

Puni naziv Dynamic Decoupling of Robot Manipulators
Autor Vigen Arakelian
Jezik Engleski
Uvez Knjiga - Tvrdi uvez
Datum izdanja 2018
Broj stranica 188
EAN 9783319743622
ISBN 3319743627
Libristo kod 18679895
Nakladnici Springer International Publishing AG
Težina 465
Dimenzije 155 x 235 x 17

Kategorija

Technology, Engineering, Agriculture > Electronics & communications engineering > Electronics engineering > Automatic control engineering > Robotics
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