Linearization and optimization of robot dynamics via inertial parameter design We introduce the concept of linearity number (LN) to measure the “linearity” of the equations of motion of a serial manipulator. This number is computable in closed-form and is an average quantitative index of the degree of linearity of the robot over a specified region in the joint space. The definition is flexible, allowing the user to create custom-made definitions according to his or her specific needs. Using the concept of LN and the developed computer package CADLOR, one can design the kinematic and/or inertial parameters of the robot such that the robot is completely linear (or as linear as possible) and obtain the corresponding equations of motion in closed form.
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References in zbMATH (referenced in 3 articles )
Showing results 1 to 3 of 3.
- Chen, Dar-Zen; Wang, Shinn-Chang: On the drive train design of gear coupled manipulators (1998)
- Soylu, R.; Çetin, M.: Linearization of hybrid robots and input torque balancing of mechanisms. (1998)
- Soylu, Reşit; Sarrafi, Ali: Linearization and optimization of robot dynamics via inertial parameter design (1996)