rdf-syntax-grammar
mods:
  schema location: http://www.loc.gov/mods/v3 http://www.loc.gov/standards/mods/v3/mods-3-2.xsd
  title info:
    title: Dynamic Decoupling of Robot Manipulators
  name:
    name part: Arakelian, Vigen.
    role:
      role term: editor.
    role:
      role term: edt
    role:
      role term: http://id.loc.gov/vocabulary/relators/edt
  name:
    name part: SpringerLink (Online service)
  type of resource: text
  origin info:
    place:
      place term: gw
    date issued: 2018
    edition: 1st ed. 2018.
    issuance: monographic
  language:
    language term: eng
  physical description:
    form: electronic
    form: electronic resource
    reformatting quality: access
    form: remote
    extent: VII, 188 p. 95 illus., 6 illus. in color. online resource.
  abstract: This book presents the latest results in the field of dynamic decoupling of robot manipulators obtained in France, Russia, China and Austria. Manipulator dynamics can be highly coupled and nonlinear. The complicated dynamics result from varying inertia, interactions between the different joints, and nonlinear forces such as Coriolis and centrifugal forces. The dynamic decoupling of robot manipulators allows one to obtain a linear system, i.e. single-input and single output system with constant parameters. This simplifies the optimal control and accumulation of energy in manipulators. There are two ways to create the dynamically decoupled manipulators: via optimal mechanical design or control. This work emphasises mechatronic solutions. These will certainly improve the known design concepts permitting the dynamic decoupling of serial manipulators with a relatively small increase in total mass of the moving links taking into account the changing payload. For the first time such an approach has been applied on serial manipulators. Also of great interest is the dynamic decoupling control of parallel manipulators. Firstly, the dynamic model of redundant multi-axial vibration table with load has been established, and, secondly, its dynamic coupling characteristics have been analyzed. The discussed methods and applications of dynamic decoupling of robot manipulators are illustrated via CAD simulations and experimental tests. .
  table of contents: Preface -- Chapter 1 Dynamic decoupling of robot manipulators: a review with new examples, by V. Arakelian, J. Xu, and J. P. Le Baron -- Chapter 2 Design of adjustable serial manipulators with decoupled dynamics, by V. Arakelian, J. Xu, and J. P. Le Baron -- Chapter 3 Dynamic decoupling of planar serial manipulators with revolute joints, by V. Arakelian, J. Xu and J.P. Le Baron -- Chapter 4 Tolerance analysis of serial manipulators with decoupled and coupled dynamics, by J. Xu, V. Arakelian, and J.P. Le Baron -- Chapter 5 Dynamics decoupling control of parallel manipulator, by Jun-Wei Han, Wei Wei and Zhi-Dong Yang -- Chapter 6 Design and analysis of the 6-DOF decoupled parallel kinematics mechanism, by Victor Glazunov, Natalya Nosova, Sergey Kheylo, Andrey Tsarkov -- Chapter 7 Design of Decoupled Parallel Robots, by T. Parikyan.
  note: edited by Vigen Arakelian.
  subject:
    topic: Control engineering
  subject:
    topic: Robotics
  subject:
    topic: Mechatronics
  subject:
    topic: Vibration
  subject:
    topic: Dynamical systems
  subject:
    topic: Dynamics
  subject:
    topic: Computer mathematics
  subject:
    topic: Artificial intelligence
  subject:
    topic: Control, Robotics, Mechatronics
  subject:
    topic: Vibration, Dynamical Systems, Control
  subject:
    topic: Computational Mathematics and Numerical Analysis
  subject:
    topic: Artificial Intelligence
  classification: TJ210.2-211.495
  classification: TJ163.12
  classification: 629.8
  related item:
    title info:
      title: Springer eBooks
  related item:
    title info:
      title: Mechanisms and Machine Science, 56
  identifier: 9783319743639
  identifier: https://doi.org/10.1007/978-3-319-74363-9
  record info:
    record creation date: 180220
    record change date: 20191025012440.0
    record identifier: 978-3-319-74363-9