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Design of robots driven by linear servo systems

Published online by Cambridge University Press:  09 March 2009

P. Minotti  and
P. Pracht
P. Minotti
Affiliation:
Laboratorie de Mécanique Appliquée associé au CNRS UFR Sciences et Techniques, Route de Gray, 25030 Besançon (France).
P. Pracht
Affiliation:
G.R.G.T. Département Génie Mécanique, I.U.T. Belfort, Rue Engel Gros, 90000 Belfort (France).
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Summary

The performance of robotic manipulators is limited by the nature of the control systems which do not satisfactorily integrate the non-linear phenomena associated with the dynamic behavior of the mechanisms. The significant variations in the axial inertias lead to control problems and require an optimization of the mechanical structures in order to improve the stability of the manipulators. This paper proposes mechanical solutions in the domain of dynamic decoupling of robots and demonstrates, using numerical simulations the value of these solutions in terms of control.

Keywords

RobotsDynamic decouplingDesignControl
Type
Article
Information
Robotica , Volume 10 , Issue 4 , July 1992 , pp. 361 - 368
Copyright
Copyright © Cambridge University Press 1992

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