Dynamic Decoupling of Robot Manipulators: 56 (Mechanisms and Machine Science) - Tapa blanda

Libro 49 de 139: Mechanisms and Machine Science
 
9783030089733: Dynamic Decoupling of Robot Manipulators: 56 (Mechanisms and Machine Science)
Tapa blanda
ISBN 10: 3030089738 ISBN 13: 9783030089733
Editorial: Springer, 2019

Sinopsis

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.

"Sinopsis" puede pertenecer a otra edición de este libro.

De la contraportada

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.  

"Sobre este título" puede pertenecer a otra edición de este libro.

Editorial
Springer
Año de publicación
2019
Idioma
Inglés
ISBN 10 
3030089738
ISBN 13 
9783030089733
Encuadernación
Tapa blanda
Número de páginas
196
Editor
Arakelian Vigen
Contacto del fabricante
ProductSafety@springernature.com
ProductSafety@springernature.com

Poststr. 9
Darmstadt
64293
Alemania

Otras ediciones populares con el mismo título

9783319743622: Dynamic Decoupling of Robot Manipulators: 56 (Mechanisms and Machine Science, 56)

Edición Destacada

ISBN 10:  3319743627 ISBN 13:  9783319743622
Editorial: Springer, 2018
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