A decentralized controllability measure for robotic manipulators

Abstract

A global dynamic performance measure for manipulators with decentralized control systems is given. The measure is defined on the base of a weak explicit condition on the inverse inertia matrix which is necessary and sufficient for a manipulator to be independent joint controllable (IJC). Most properly designed nonredundant manipulators can be IJC. For a planar three-degree-of-freedom manipulator to be IJC, a simple inequality is derived to show how the link masses should decrease in progressing from the base to the gripper.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>