An efficient motion planning of flexible manipulator along specified path

A. Mohri, P. K. Sarkar, M. Yamamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

25 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1104-1109
Number of pages6
ISBN (Print)078034300X
DOIs
Publication statusPublished - Jan 1 1998
Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
Duration: May 16 1998May 20 1998

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2
ISSN (Print)1050-4729

Other

Other15th IEEE International Conference on Robotics and Automation, ICRA 1998
CountryBelgium
CityLeuven
Period5/16/985/20/98

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Mohri, A., Sarkar, P. K., & Yamamoto, M. (1998). An efficient motion planning of flexible manipulator along specified path. In Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998 (pp. 1104-1109). [677238] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBOT.1998.677238