Adaptive Decoupling for Open Chain Planar Robots

Decoupling of dynamic equations in robotic mechanisms has attracted many researchers in the recent years. This kind of decoupling can be achieved by modifying the original kinematic structure through the use of counterweights attached to the moving links. Therefore, the robotic control becomes easier due to reducing the coupling disturbances. In this paper, di erent methods of decoupling including the static balancing, Coriolis and centripetal force eliminating and dynamic balancing are introduced and their concepts are described based on Lagrange-Euler equations. The systematic adaptive approach is proposed for any open-chain planar robots whose links are connected by revolute joints. The method is tested for two-link and three-link manipulator. The results indicate that the system is fully-decoupled and simple classical approach is sucient to control it.