Abstract
The central role in designing a manipulator with appropriate dynamic characteristics plays the inertial matrix. In general case, a weak condition on this matrix is imposed to provide independent joint controllability of the manipulator system. The condition we require is fulfilled for almost all kinds of nonredundant manipulators. The case of a planar manipulator with three revolute joints is considered as well.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Asada, H. The Kinematic Design and Mass Redistribution of Manipulator Arms for Decoupled and Invariant Inertia. Proceedings of the Sixth CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Ed. by A. Morecki, G. Bianchi and K. Kedzior, Hermes, Paris, 1987, pp. 221–245.
Tourassis, V., and Ch. Neuman. The Inertial Characteristics of Dynamic Robot Models. Mechanism and Machine Theory, Vol. 20, No 1, 1985, pp. 41–52.
Lee, K., and D.A. Tortorelli. A CAD System for Designing Robotic Manipulators. IEEE International Confrence on Robotics and Automation, 25–28 March, St. Louis, 1985.
Wang Ching-Cheng. The Optimal Design of Robot Drive System- Gear Ratios and Actuator Impedances, IEEE International Conference on Robotics and Automation, 1986, pp. 67–74.
Kiriazov, P., and P. Marinov. On the Decoupled Drive System Design of Industrial Robots. Theor. and Appl. Mechanics, Publ. House of the Bulgarian Academy of Sciences, Year 18, No 4, Sofia, 1987, pp. 25–29.
Kiriazov, P. and P. Marinov. On the Independent Dynamics Controllability of Manipulator Systems. Theor. and Appl. Mechanics, Publ. House of the Bulgarian Academy of Sciences, Sofia, Year 20, No 1, 1989.
Williams, S., and K. Glover. Robot Dynamic Control Instabilities, American Control Conference, 1985, pp. 390–392
Young, R.-K., Controller Design for a Manipulator Using Theory of Variable Structure Systems. Trans. IEEE, Vol. SMC-8, 1978, pp. 101–109.
Arimoto, S., and F. Miyazaki. Asymptotic Stability of Feedback Control Laws for Robot Manipulators. Prepr. of the 1st IFAC Symposium on Robot Control, Barcelona, 6–8 Nov. 1985, pp. 447–452.
Dubowsky, S. On the Dynamics of Computer Controlled Robotic Manipulators. Prepr. of the 4th Intern. Symposium on Theory and Practice of Robots and Manipulators, Zaborow near Warsaw, 8–12 Sept., 1981, pp. 89–98.
An, C.H., Atkeson, C.G., Griffiths, J.D., and J.M. Hollerbach. Experimental Evaluation of Feedforward and Computed Troque Control. Proceedings of the Sixth CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Ed. by A. Morecki, G. Bianchi and K. Kedzior, Hermes, Paris, 1987, pp. 488–495.
Kiriazov, P., and P. Marinov. Control Synthesis of Manipulator Dynamics in Handling Operations. Theor. and Appl. Mechanics, Publ. House of the Bulgarian Academy of Sciences, Year 14, No 2, 1983, pp. 15–20.
Kiriazov, P., and P. Marinov. A Method for Time-Optimal Control of Dynamically Constrained Manipulators. Preceedings of the 5th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators. Kogan Page, Hermes Publ., London, 1985, pp. 169–179.
Marinov, P., and P. Kiriazov. A Direct Method for Optimal Control Syntesis of Manipulator Point-to-Point Motion. Proceedings of the 9th Triennial World Congress of IFAC “A Bridge between Control Science and Technology, Ed. J. Gertler and L. Keviczky, Vol. 1, 1985, pp. 453–457.
Geering, H., Guzzella, L., Hepner, St., and Ch. Onder. Time-Optimal Motions of Robots in Assembly Tasks. Proceedings of 24th Conference on Decision and Control, Ft. Lauderdale, Fl., 1985, pp. 982–989.
Hollerbach, J.M. Dynamic Scaling of Manipulator Trajectories. Proceedings of the American Control Conference, San Francisko, CA, June 1983.
Hewit, J.R., and J. Padovan, Decoupled Feedback Control of Robot and Manipulator Arms, Proceedings of the 3rd CISMIFToMM Symposium on Theory and Practice of Robots and Manipulators, Ed. by A. Morecki, G. Bianchi and K. Kedzior, PKN-Polish Scientific Publishers, Warszawa, 1980, pp. 251–266.
Bellman, R., Introduction to Matrix Analysis, Mcgraw-Hill Book Company, Inc., New York Toronto London, 1960.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1989 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Kiriazov, P., Marinov, P. (1989). Independent Joint Controllability of Manipulator System. In: Waldron, K.J. (eds) Advanced Robotics: 1989. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-83957-3_41
Download citation
DOI: https://doi.org/10.1007/978-3-642-83957-3_41
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-83959-7
Online ISBN: 978-3-642-83957-3
eBook Packages: Springer Book Archive