Improvement of a robot performance due to elemination of both dynamic interactions and joint limits in the manipulator arm

The possibility of improvement of a robot capabilities due to the elimination of both dynamic interactions and joint limits in its arm has not been fully exploited till now. Two different dynamic schemes of such an arm driven directly have been presented. A manipulator 1:5 model revealing the complete dynamic interactions elimination due to the suitable mass distribution in terms of a proper driving motors arrangement has been shown. Basing on the presented dynamic analysis one can state that the designs being proposed ensure a considerable simplification of the robot control system as weU as a great shortening of time taken in some motions.