A Feasibility Study on the Design of Dynamically Linearized Robots

机械臂是一个动态复杂的系统，由于机械臂关节部件之间的动态耦合，以及由于结构和有效载荷的变化而产生的非线性。这些复杂性必然会使控制变得复杂，因为当机器人以所需的速度和精度执行其分配的任务时，控制必须考虑到动态。如果能够消除非线性，那么动力学和控制将会有很大的改善。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。

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.