REDUNDANT ROBOT MANIPULATORS WITH JOINT AND LINK FLEXIBILITY .2. RESIDUAL VIBRATION DECREASING

For a robot manipulator with link and joint flexibility in the meantim e, the end effector vibration will continue even though nominal motion is stopped. This kind of residual vibration can be decreased effectiv ely by using redundancy of the multi-link flexible joint and link robo t manipulators. With the help of redundancy, an optimal self-motion wh ich yields minimum end effector vibration can be found. The significan t advantage of this method is the nominal end effector position/postur e can be maintained fixed while the links move in an optimal way. Simu lation results show the method is effective. (C) 1998 Elsevier Science Ltd.