A Feasibility Study on the Design of Dynamically Linearized Robots

机器人手臂是一个动态复杂的系统，由于动态 臂的铰接部件之间的联接， 由变化的配置和有效载荷引起的非线性。 这些复杂性必然使控制复杂化， 考虑机器人执行指定任务时的动力学 以所需的速度和准确性。 如果非线性 那么动力学和控制就会 大大改善。 本项目针对这一概念， 决定了制造三连杆的可行性 动态线性化机器人

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.