Trajectory Optimization of a Flexible Manipulator Using Deflection Analysis Method
نویسندگان
چکیده
In practice, a robotic joint is linearly and angularly deflected when a load is applied at the endeffector. This article presents an improved method with a combination of energy methods and the concepts of differential relationships to more accurately calculate the static deflection at the end-effector. A systematic approach to deflection calculation through three different Jacobians is presented. The theoretical deflection analysis is verified by simulation results. A two-link robot is used for numerical illustration and calculation procedure. Also the total deflection analysis of the end-effector is calculated with respect to base. Finally, the deflection statements are minimized considering that the deflection functions are differentiable. Key-Words: Trajectory Optimization, Flexible Manipulator, Deflection Analysis, Two Link Robot.
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