Dynamic Equivalence Conditions for Controlled Robotic Manipulators

Abstract

The nondimensional groups that dee ne the dynamic equivalence conditions for general rigid-link and e exiblelinkmanipulatorsareexamined.Thescalingconditionsforfrictioneffectsandthetolerancesonthenondimensional group values are also investigated. A nonlinear compensation technique is presented to allow for parameter value uncertainties. Scaling laws for general control strategies are also presented. Simulation results are presented.