ABSTRACT
Simplification schemes for manipulator dynamics must utilize the desired manipulator system performance information to determine the significance of each term in the dynamic model. This chapter presents an efficient minimax decision scheme for automatic generation of a simplified manipulator dynamic model based on the desired manipulator system performance under a proportional-plus-derivative controller (PD controller). It shows how much manipulator dynamic model information is needed in a PD controller to achieve the desired manipulator system performance. Thus, the effects of a simplified dynamic model on manipulator system performance must be investigated and analyzed, and generation of a simplified dynamic model must be based on the specification of the desired system performance. The chapter contributes the concept of using the desired manipulator system performance specifications to determine the unknown coefficients of the basis functions on the work space of the manipulator.
