Point-to-point quasi-static motion planning for flexible-link manipulators

Author

Xi, F. ; Fenton, R.G.

Author_Institution

Dept. of Mech. Eng., Toronto Univ., Ont., Canada

Volume

11

Issue

5

fYear

1995

fDate

10/1/1995 12:00:00 AM

Firstpage

770

Lastpage

776

Abstract

Point-to-point quasi-static motion planning is essential for effectively controlling the elastic deformations and vibrations of the end-effector of flexible-link manipulators. In this paper, this problem is formulated considering the kinematic equations and link deflection equations of the manipulator. An algorithm is proposed to obtain the numerical solution to the problem by utilizing the Newton-Raphson method. The kinematic equations and link deflection equations, as well as their differential relationships, are derived by using the algebra of rotations. The effectiveness of the proposed algorithm is demonstrated in examples

Keywords

Jacobian matrices; Newton-Raphson method; elastic deformation; linear programming; manipulator kinematics; path planning; vibration control; Jacobian matrix; Newton-Raphson method; approximate linear programming; elastic deformations; end-effector; flexible-link manipulators; kinematic equations; link deflection; point-to-point quasi-static motion planning; vibration control; Control systems; Differential algebraic equations; Kinematics; Manipulator dynamics; Mechanical engineering; Motion control; Newton method; Nonlinear equations; Payloads; Vibration control;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.466605

Filename

466605