Control Performance Improvement in Dynamically Decoupled Manipulators

The control of industrial robot manipulators presents a difficult problem for engineers due to the complexity dynamics models. Nonlinear controls based on feedback linearization are developed meet requirements. Model-based nonlinear is highly sensitive parameter errors and leads problems robustness tracking trajectories at high speeds, there additional heavy computational burden consider in design controllers. In this paper, mechatronics approach proposed, which aims facilitate controller by redesigning mechanical structure. approached two steps: first, dynamic decoupling conditions described discussed, involving redistribution moving mass, motion equations. A classical linear technique then used track desired efficient bang-bang profile trajectory. An analysis results from simulation demonstrates its effectiveness design. proposed improvement performance illustrated via two-revolute joint spatial manipulator.