Nonlinearity detection and reduction based on unnormalized quasi-velocities
In this paper an analysis concerning dynamical couplings between manipulator links is proposed. In order to detect nonlinearities we utilize equations of motion in terms of unnormalized quasi-velocities (UQV) introduced originally by Jain and Rodriguez (1995). Based on the equations some observations which are helpful for nonlinearity investigation and reduction were made. The presented strategy was tested by simulation on a 3 d.o.f. spatial manipulator.
KeywordsManipulator Link Joint Velocity Spatial Manipulator Joint Axis Kinematic Scheme
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