Trajectory planning for flexible manipulators

A trajectory planner for a one-flexible-link manipulator is presented. The approach is based on the solution to the inverse dynamic problem for flexible manipulators in the frequency domain. The problem is mathematically formulated as an optimization of the settling time subject to maximum torque and high frequency content constraints. A cubic-rectangular acceleration profile is proposed as a generic input to be used in the optimization process, and the general optimization procedure is established. The application of the approach to a particular case shows the operativeness of the proposed methodology and the possibility of an intelligent election of trajectories for flexible manipulators