Performance evaluation of dynamically linearized and kinematically redundant planar manipulators

✍ Scribed by Ronald S. Gompertz; Daniel C.H. Yang

• Publisher: Elsevier Science
• Year: 1989
• Tongue: English
• Weight: 705 KB
• Volume: 5
• Category: Article
• ISSN: 0736-5845
• DOI: 10.1016/0736-5845(89)90006-9

✦ Synopsis

The objective of this research is to investigate the feasibility of a theoretical development which could lead to advanced manipulator concepts offering fast dynamic and control features. Specifically, the application of "dynamic linearization" to a kinematically redundant planar manipulator is studied. In comparing such a manipulator with a standard non-linear, non-redundant design it is shown that in addition to the expected merits in lincarity, dexterity, and computational simplicity, savings in actuator energy consumption can also be realized using a relative simple trajectory optimization scheme.