Affiliation:
1. Mechanical, Aerospace and Nuclear Engineering University of California Los Angeles, California 90024
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.
Subject
Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software
Cited by
37 articles.
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