Non-linearity evaluation and reduction for serial manipulators

Abstract

In this paper, a controller for evaluation and improvement of dynamic properties of a serial manipulator is presented. It is shown that on the basis of the first-order equations of motion expressed in terms of the generalized velocity components (GVCs), it is possible to propose the controller in order to determine coupling effects appearing during the manipulator motion. The GVC velocity controller contains the manipulator dynamics and offers an interesting insight into the manipulator dynamics. Performance of the GVC controller is illustrated in simulation study on a three-degrees-of-freedom spatial manipulator.