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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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


    Additional title:

    Mechan. Machine Science



    Conference:

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



    Publication date :

    2022-04-23


    Size :

    10 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





    Evaluation of Serial Metamorphic Manipulator Structures Considering Inertia Characteristics

    Stravopodis, N. A. / Katrantzis, L. / Moulianitis, V. C. et al. | TIBKAT | 2020


    A Design of Robust Controller for Robot Manipulator

    Cai, D. / Yamaura, H. / Shidama, Y. | British Library Online Contents | 1995


    A Robust Controller for Manipulator Driven by Artificial Muscle Actuator

    Cai, D. / Yamaura, H. | British Library Online Contents | 1996


    Serial Manipulator Design for an AG Robot

    Mr.K. Rajesh | BASE | 2017

    Free access