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.