In this work the effect of system reconfiguration on the total dynamic model uncertainty of a serial metamorphic manipulator (SMM) is studied. An index related to the mass distribution characteristics of the anatomies of a SMM is defined, and given the bounded index score, groups of anatomies are identified. The ability of the proposed index to realize anatomies with lower overall system uncertainty is investigated and the tracking performance, of the emerging anatomy groups, under a centralized robust controller and a classical centralized joint control method is evaluated. The utilization of the proposed index for a rapid, off-line dynamic performance evaluation procedure and the determination of anatomies with adequate tracking performance under the same controller parameters for the specified tasks is discussed.


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    Titel :

    Anatomy Categorization of a Serial Metamorphic Manipulator for Optimized Robust Controller Performance


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:

    Kongress:

    International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022



    Erscheinungsdatum :

    2022-04-23


    Format / Umfang :

    10 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





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