Experimental evaluation of flexible manipulator trajectory optimization

Experimental results showing the effectiveness of trajectory optimization f or reducing vibration excitation in point-to-point maneuvers of flexible ma nipulators are presented. Joint trajectories are found as the solution to a functional (or global) optimization problem. To reduce vibration, the func tional is chosen to be the strain energy of the manipulator integrated over the time interval of the motion. A numerical example is presented to help verify the algorithm. A laboratory-based flexible-link manipulator is then described, and a model of its dynamics is obtained by combining analysis wi th experimental parameter identification. Through the use of the model, the optimal trajectory is generated and compared, both in simulation and exper imentally, to a polynomial trajectory and the globally optimal straight-lin e trajectory. The experiments agree with the simulation in confirming that joint trajectory optimization can significantly reduce the total strain ene rgy incurred during point-to-point motions.