On the trajectory planning of a planar elastic manipulator under gravity

Pritam Kumar Sarkar, Motoji Yamamoto, Akira Mohri

Research output: Contribution to journalArticle

14 Citations (Scopus)

Abstract

Feedforward control design of flexible robot can take advantage of planning algorithm. In this paper two such algorithms have been presented - one is for static case and the other is for dynamic case. Both the algorithms are iterative in nature and are computationally based on the minimization of position or tracking error defined at the end-effector level. The algorithms are simple but computationally expensive. The performance is tested on a planar two-link arm through simulation and the results show the capability of the methods to compensate error due to deflection of the flexible links at the time of static condition of positioning and to track a given trajectory effectively at the time of dynamic condition of tracking under end kinematic constraints.

Original languageEnglish
Pages (from-to)357-362
Number of pages6
JournalIEEE Transactions on Robotics and Automation
Volume15
Issue number2
DOIs
Publication statusPublished - Jan 1 1999

Fingerprint

Manipulators
Gravitation
Trajectories
Planning
Feedforward control
End effectors
Kinematics
Robots

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

On the trajectory planning of a planar elastic manipulator under gravity. / Sarkar, Pritam Kumar; Yamamoto, Motoji; Mohri, Akira.

In: IEEE Transactions on Robotics and Automation, Vol. 15, No. 2, 01.01.1999, p. 357-362.

Research output: Contribution to journalArticle

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