Dynamic decoupling of a remote manipulator system

The dynamic decoupling problem for a rigid body model of a remote manipulator system is studied. An open-loop decoupling compensator is proposed, which is compatible with the independent-joint-control design philosophy currently adopted in most industrial manipulator systems. Decoupling is achieved by implementing a precompensator at the input to the joint drive system. The feasibility of the decoupling scheme is demonstrated via simulation experiments on the model of a two-joint manipulator system with arms in planar motion.