TY - GEN
T1 - An efficient motion planning of flexible manipulator along specified path
AU - Mohri, A.
AU - Sarkar, P. K.
AU - Yamamoto, M.
PY - 1998/1/1
Y1 - 1998/1/1
N2 - Motion planning under fixed travelling time between start and goal point along a specified path is considered in this study. The structure between the actuator and the end point of the robot arm is assumed flexible and is the main cause of positioning error because of residual vibration. An algorithm is developed to generate motion of the manipulator arm along the specified path that significantly reduces the residual vibration, at the goal point configuration. The problem also considers the full nonlinear dynamics of the manipulator arm. The dynamics are described by finite element method using Lagrange's equation and are expressed by the time scale factor. The performance index is optimized successfully through off-line computation for a two link flexible manipulator, one example of which is described in detail.
AB - Motion planning under fixed travelling time between start and goal point along a specified path is considered in this study. The structure between the actuator and the end point of the robot arm is assumed flexible and is the main cause of positioning error because of residual vibration. An algorithm is developed to generate motion of the manipulator arm along the specified path that significantly reduces the residual vibration, at the goal point configuration. The problem also considers the full nonlinear dynamics of the manipulator arm. The dynamics are described by finite element method using Lagrange's equation and are expressed by the time scale factor. The performance index is optimized successfully through off-line computation for a two link flexible manipulator, one example of which is described in detail.
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U2 - 10.1109/ROBOT.1998.677238
DO - 10.1109/ROBOT.1998.677238
M3 - Conference contribution
AN - SCOPUS:0031631851
SN - 078034300X
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1104
EP - 1109
BT - Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Conference on Robotics and Automation, ICRA 1998
Y2 - 16 May 1998 through 20 May 1998
ER -