Dynamic Decoupling of Adjustable Serial Manipulators Taking into Account the Changing Payload
This paper deals with the problem of dynamic decoupling of adjustable serial manipulators with changing payload. Without payload, this kind of manipulator can accomplish the dynamic decoupling via opposite rotation of links and optimal redistribution of masses. However, the introduction of the changing payload leads to the perturbation of dynamic decoupling of the manipulator. In order to eliminate such a perturbation, the optimal control design is discussed. The proposed approach, which is a symbiosis of mechanical and control solutions, improves the known design concepts permitting the dynamic decoupling of serial manipulators taking into account the changing payload. The efficiency of the proposed technique is evaluated by using MATLAB software.
KeywordsMechatronic design Serial manipulators Decoupled dynamics Adjustable mechanisms
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