Self-motion utilization for reducing vibration of a structurally flexible redundant robot manipulator system

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This paper focuses on overcoming the problem of tracking control in structurally flexible redundant manipulators by utilizing their self-motion capabilities. In the proposed algorithm, the self-motion is evaluated in order to nullify the dominant modal force of flexural motion that is induced by a rigid body motion. The flexure motions of manipulators, which are induced by joint motion, cause undesired inaccuracy in end-effector tracking. In-plath planning states, joint trajectories are so designed as not to excite but to damp out the flexure motions. The self-motion, inherent in redundant manipulators, can alter joint motion, influencing the flexure motion (by exciting and damping the flexure modes), while not affecting end-effector motion at all. Therefore, the self-motion can be utilized to regulate flexibility and effectively reduce the end-effector tracking error. The effectiveness and applicability of the proposed algorithm have been demonstrated through numerical simulation with three-link planar robotic manipulators possessing flexible links.
Publisher
CAMBRIDGE UNIV PRESS
Issue Date
1998
Language
English
Article Type
Article
Keywords

OPTIMIZATION

Citation

ROBOTICA, v.16, pp.669 - 677

ISSN
0263-5747
URI
http://hdl.handle.net/10203/74081
Appears in Collection
ME-Journal Papers(저널논문)
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