Trajectory optimization of two-link rigid flexible manipulators in Dynamic Object Manipulation missions

This research focuses on proposing an optimal trajectory planning method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [15]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-Effector (EE) of the manipulator; On the contrary, utilizing the powerful tool optimal control accomplishing a point-to-point task for TLRFM is the purpose of the current research. Towards this goal, the pseudospectral method will be developed to meet the optimality conditions subject to system dynamics and boundary conditions. The complicated optimal trajectory planning is formulated as a nonlinear programming problem and solved by SNOPT nonlinear solver. The obtained simulation results reveal the usefulness and optimality of the developed scheme, in DOM missions.