The handling mass of a conventional robot is limited very small compare to the mass of the robot body, because the handling mass get the dynamic characteristics of the robot be highly coupled, time varying, and nonlinear characteristics. Also, in case of tracking application, operating speed of the conventional robot is low, because the assumption that the terms of centrifugal torque and coriolis torque is small violated.
A new method, "Mechanical Balancing", is proposed to handle the larger payload. The effectiveness of mechanical balancing is studied by investigating the open loop dynamic characteristic of the balanced robot and the conventional robot for the various operating speeds and the various masses of payload.
A new control algorithm based on the linearized control theory which satisfies the stability, "Pixelized Linear State Feedback Control", is introduced in order to be able to real time application. The effectiveness of the new control algorithm is studied by investigating the maximum tracking error and the final positioning error of the previous two kinds of robots for the various operating speeds and the various masses of payload. In the case study, the simplified model of PUMA 600 is used.
