Optimal Path Planning for Flexible Redundant Robot Manipulators
نویسندگان
چکیده
Vibration is one of the most important resources of error in motion of tip of flexible robot manipulators. Although much work has been done in the design of controllers for flexible manipulators to follow a specified tip trajectory, it has been done a little work in trajectory planning itself. For redundant robot manipulators, trajectory planning can be accomplished with the aim of optimizing some objective functions while tracing along a given tip trajectory. In the present work, the optimal trajectory-planning problem for a flexible redundant manipulator will be formulated as a two point boundary value problem (TPBV) by globally minimizing the elastic deformation of flexible links during the motion. Key-Words: Manipulator Redundant Flexible Vibration Optimization Path Planning
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