Dynamic Decoupling of Robot Manipulators

  • Vigen Arakelian

Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 56)

Table of contents

  1. Front Matter
    Pages i-vii
  2. V. Arakelian, J. Xu, J. P. Le Baron
    Pages 1-23
  3. V. Arakelian, J. Xu, J. P. Le Baron
    Pages 25-50
  4. V. Arakelian, J. Xu, J. P. Le Baron
    Pages 51-73
  5. Jun-Wei Han, Wei Wei, Zhi-Dong Yang
    Pages 97-124
  6. Victor Glazunov, Natalya Nosova, Sergey Kheylo, Andrey Tsarkov
    Pages 125-170
  7. T. Parikyan
    Pages 171-188

About this book


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.  


Mechatronic Design Decoupled Dynamics Linearized Dynamics Serial Manipulators Optimal Control

Editors and affiliations

  • Vigen Arakelian
    • 1
  1. 1.Génie Mécanique et AutomatiqueInstitut National des Sciences AppliquéesRennesFrance

Bibliographic information

  • DOI
  • Copyright Information Springer International Publishing AG 2018
  • Publisher Name Springer, Cham
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-3-319-74362-2
  • Online ISBN 978-3-319-74363-9
  • Series Print ISSN 2211-0984
  • Series Online ISSN 2211-0992
  • Buy this book on publisher's site
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