0
Research Papers

Investigation of Mechanical Couplings of Rigid Serial Manipulators

[+] Author and Article Information
Przemysław Herman

Control and Systems Engineering, Poznań University of Technology, ul. Piotrowo 3a, 60-965 Poznañ, Polandprzemyslaw.herman@put.poznan.pl

J. Comput. Nonlinear Dynam 3(3), 031008 (May 05, 2008) (6 pages) doi:10.1115/1.2909083 History: Received April 25, 2007; Revised October 08, 2007; Published May 05, 2008

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 Jain and Rodriguez (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.

FIGURES IN THIS ARTICLE
<>
Copyright © 2008 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

Kinematic scheme of the spatial manipulator

Grahic Jump Location
Figure 2

Simulation results (for all cases): (a) desired joint position trajectories q1,q2,s3 and (b) desired joint velocity trajectories dq1,dq2,ds3(q̇1,q̇2,ṡ3)

Grahic Jump Location
Figure 3

Simulation results for Case 1: (a) Criterion 16, (b) Criterion 17, (c) Criterion 18, (d) Criterion 19, and (e) Criterion 20.

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In