A Feasibility Study on the Design of Dynamically Linearized Robots

动态线性化机器人设计的可行性研究

• 批准号: 8700382
• 负责人: Daniel C.H. Yang
• 金额: $ 3万
• 依托单位: University of California-Los Angeles
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1987
• 资助国家: 美国
• 起止时间: 1987-01-01 至 1988-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=8700382&HistoricalAwards=false
• 关键词: Feasibility; Study; Design; Dynamically; Linearized

A robot arm is a dynamically complex system due to the dynamic coupling between articulating components of the arm and to nonlinearity arising from changing configuration and payload. These complexities necessarily complicate the control which has to account for dynamics as the robot performs its assigned tasks with the required speed and accuracy. If the nonlinearities could be eliminated, then the dynamics and control would be substantially improved. This project addresses that concept and determines the feasibiIity of fabricating a three link dynamically linearized robot.

机械臂是一个动态复杂的系统，由于机械臂各关节部件之间的动态耦合以及结构和载荷变化引起的非线性。当机器人以要求的速度和精度执行指定任务时，这些复杂性必然使控制变得复杂，控制必须考虑动力学。如果非线性可以消除，那么动力学和控制将得到很大的改善。该项目解决了这一概念，并确定了制造三连杆动态线性化机器人的可行性。