Yue Shigang, Bai Shixian. Vibration Reduction of Flexible Link RedundantRobot Manipulators by Self-motion Planning[J]. Journal of Beijing University of Technology, 1998, 24(2): 80-85.
Citation:
Yue Shigang, Bai Shixian. Vibration Reduction of Flexible Link RedundantRobot Manipulators by Self-motion Planning[J]. Journal of Beijing University of Technology, 1998, 24(2): 80-85.
Yue Shigang, Bai Shixian. Vibration Reduction of Flexible Link RedundantRobot Manipulators by Self-motion Planning[J]. Journal of Beijing University of Technology, 1998, 24(2): 80-85.
Citation:
Yue Shigang, Bai Shixian. Vibration Reduction of Flexible Link RedundantRobot Manipulators by Self-motion Planning[J]. Journal of Beijing University of Technology, 1998, 24(2): 80-85.
Vibration Reduction of Flexible Link RedundantRobot Manipulators by Self-motion Planning
A new method is presented and it uses redundancy to reduce the endpoint vibration of a flexible robot arm. The suitable self-motion with minimum endpoint vibration deformation is determined, through optimization while tracing prescribe trajectory. The dynamic simulation of a three flexible links robot manipulator shows the effectiveness of the method.
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