Design of robots driven by linear servo systems

Abstract

SUMMARY The performance of robotic manipulators is limited by the nature of the control systems which do not satisfactorily integrate the non-linear phenomena associated with the dynamic behavior of the mechanisms. The significant variations in the axial inertias lead to control problems and require an optimization of the mechanical structures in order to improve the stability of the manipulators. This paper proposes mechanical solutions in the domain of dynamic decoupling of robots and demonstrates, using numerical simulations the value of these solutions in terms of control.