Sg. Yue, REDUNDANT ROBOT MANIPULATORS WITH JOINT AND LINK FLEXIBILITY .1. DYNAMIC MOTION PLANNING FOR MINIMUM END-EFFECTOR DEFORMATION, Mechanism and machine theory, 33(1-2), 1998, pp. 103-113
How to reduce the vibration deformation of robot manipulators with fle
xible joint and link is a significant problem. A method is presented f
or redundant robot manipulators with joint and link flexibility simult
aneously to reduce its end-effector vibration deformation while tracki
ng a prescribed trajectory in this paper. For a prescribed trajectory
of redundant robots, there exists infinite possible joint motion becau
se of redundancy and different joint motions cause different vibration
deformations of the robot system. The new method can choose optimal j
oint motion of the robot manipulator while keeping its end effector mo
ving along the prescribed trajectory. The optimal joint motion yields
minimum end effector vibration deformation. A planar robot manipulator
with three flexible joints and flexible links is used in computer sim
ulation and the simulation results show the method is effective. (C) 1
998 Elsevier Science Ltd.