New Trends in Medical and Service Robots by Philippe Wenger Christine Chevallereau Doina Pisla Hannes Bleuler & Aleksandar Rodić

Author:Philippe Wenger, Christine Chevallereau, Doina Pisla, Hannes Bleuler & Aleksandar Rodić
Language: eng
Format: epub
Publisher: Springer International Publishing, Cham

4 Conclusions

In order to increase the accuracy of high-speed mechanical systems the nonlinear dynamic control algorithms have been developed. However, taking into account the permanent tendency to decrease the price of robotic systems, the price of implementation of a complete dynamic control on the industrial practice is still high. In the case of the reproduction of the trajectory in the Cartesian space by large number of given points is a laboriousness task requiring relatively long time of computation. Therefore, in many cases, the reduction (or cancellation) of coupling and nonlinearity in the manipulators, is necessary.

This paper introduced a new design concept for the linearization and decoupling of dynamic equations of exoskeleton arms . It is achieved by adding to the initial architecture of the exoskeleton an epicyclic gear train . The determination of the parameters of the added gears is based on eliminating coefficients of nonlinear terms in the manipulator’s kinetic and potential energy equations. After such a redistribution of masses the actuator torque in each driven joint becomes a linear function of its angular acceleration.

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