Weak-vibration configurations for flexible robot manipulators with kinematic redundancy

The significant effect of special initial configurations of flexible robot manipulators with kinematic redundancy is analyzed in the paper. It is found that endpoint vibrations are quite different for flexible redundant robot manipulators performing prescribed endpoint trajectories starting from different initial configurations. Thus a new method of dynamic planning for flexible robots with redundancy is presented by choosing a weak-vibration initial configuration. The method can save a lot of consuming time compared with the optimal method.