Sensitivity analysis of balanced robotic manipulators

Abstract

SUMMARY The payload variation has been one of the principal reasons in reducing path tracking accuracy and complicating controller design. In this paper, the trajectory and input sensitivities for the payload variation are investigated for three different robot configurations which include unbalanced, inaccurately balanced and balanced configurations. Based upon the sensitivity theory, simulation studies were made to evaluate the sensitivities of these configurations with respect to payload variations. The simulation results are discussed in detail and compared for the three configurations.