This book 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. The dynamic
decoupling of robot manipulators allows one to obtain a linear system i.e. single-input and
single output system with constant parameters. This simplifies the optimal control and
accumulation of energy in manipulators. There are two ways to create the dynamically decoupled
manipulators: via optimal mechanical design or control.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. For the firsttime such an approach has been
applied on serial manipulators. Also of great interest is the dynamic decoupling control of
parallel manipulators. Firstly the dynamic model of redundant multi-axial vibration table with
load has been established and secondly its dynamic coupling characteristics have been
analyzed.The discussed methods and applications of dynamic decoupling of robot manipulators are
illustrated via CAD simulations and experimental tests.
