Energy Based Indexes for Manipulator Dynamics Improvement

Several indexes for evaluation of nonlinear effects during the motion of rigid multi-body systems are proposed in this paper. All of them are based on the kinetic energy and arise from an analysis of equations of motion expressed in terms of inertial quasi-velocities (IQV). Such equations are first-order and have a diagonal mass matrix of the system. The IQV depend on configuration of the system and take into consideration also its geometrical and inertial parameters. The indexes enable to detect deformation of joint velocity as a consequence of manipulator motion, the kinetic energy resulting from dynamical couplings and the energy transferred by each link individually. Because calculation of these indexes allow to determine influence of couplings on behavior of the manipulator then they can be used in the design phase for analysis and reduction of nonlinear effects in any motion. Simulation and experimental results demonstrate that the proposed indexes are significant for evaluation of nonlinear effects and kinetic energy reduction during the manipulator motion.