Abstract
A computer-oriented method for sensitivity model construction of open-chain active mechanism is developed. It comprises two different calculations: (a) the sensitity of generalized forces acting in mechanism joints and (b) the sensitivity of actuator inputs, Variable parameters are accepted to be the dynamic parameters (masses and moments of inertia) of mechanism links. The method is convenient for real-time control application and is intended to provide a basis for adaptive manipulator control. The proposed algorithm is illustrated by an example of a six degree-of-freedom manipulator.
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