Linearization and optimization of robot dynamics via inertial parameter design

摘要

In this article, the concept of linearity number (LN) is introduced to measure the “linearity” of the equations of motion of a serial manipulator. This number is computable in closed-form and is an average quantitative index of the degree of linearity of the robot over a specified region in the joint space. The definition is flexible, allowing the user to create custom-made definitions according to his or her specific needs. Using the concept of LN and the developed computer package CADLOR, one can design the kinematic and/or inertial parameters of the robot such that the robot is completely linear (or as linear as possible) and obtain the corresponding equations of motion in closed-form. Three manipulators are used to illustrate the linearization algorithm. The relation between LN and the performance of a linear controller is demonstrated by a case study in which the first 3 links of a PUMA 560 type robot is considered. © 1996 John Wiley & Sons, Inc.