Investigation of Mechanical Couplings of Rigid Serial ManipulatorsSource: Journal of Computational and Nonlinear Dynamics:;2008:;volume( 003 ):;issue: 003::page 31008Author:Przemysław Herman
DOI: 10.1115/1.2909083Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, an approach that enables one to investigate and to reduce the mechanical couplings between the manipulator links is proposed. The presented method is based on equations of motion expressed in terms of the normalized quasivelocities (NQV) introduced originally by and (1995, “ Diagonalized Lagrangian Robot Dynamics,” IEEE Trans. Rob. Autom., 11, pp. 571–584). As a result, some observations and an algorithm which can be used at the design step of manipulators are done. Moreover, it is shown that for a rigid manipulator a class of integrable desired trajectories of the NQV can be given. The presented strategy was tested by simulation on a 3 DOF spatial manipulator.
keyword(s): Equations of motion , Algorithms , Couplings AND Manipulators ,
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| contributor author | Przemysław Herman | |
| date accessioned | 2017-05-09T00:27:09Z | |
| date available | 2017-05-09T00:27:09Z | |
| date copyright | July, 2008 | |
| date issued | 2008 | |
| identifier issn | 1555-1415 | |
| identifier other | JCNDDM-25657#031008_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/137548 | |
| description abstract | In this paper, an approach that enables one to investigate and to reduce the mechanical couplings between the manipulator links is proposed. The presented method is based on equations of motion expressed in terms of the normalized quasivelocities (NQV) introduced originally by and (1995, “ Diagonalized Lagrangian Robot Dynamics,” IEEE Trans. Rob. Autom., 11, pp. 571–584). As a result, some observations and an algorithm which can be used at the design step of manipulators are done. Moreover, it is shown that for a rigid manipulator a class of integrable desired trajectories of the NQV can be given. The presented strategy was tested by simulation on a 3 DOF spatial manipulator. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Investigation of Mechanical Couplings of Rigid Serial Manipulators | |
| type | Journal Paper | |
| journal volume | 3 | |
| journal issue | 3 | |
| journal title | Journal of Computational and Nonlinear Dynamics | |
| identifier doi | 10.1115/1.2909083 | |
| journal fristpage | 31008 | |
| identifier eissn | 1555-1423 | |
| keywords | Equations of motion | |
| keywords | Algorithms | |
| keywords | Couplings AND Manipulators | |
| tree | Journal of Computational and Nonlinear Dynamics:;2008:;volume( 003 ):;issue: 003 | |
| contenttype | Fulltext |