Dynamic Decoupling of Robot Manipulators

This text 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. 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.