Trajectory Planning in joint space for flexible robots with kinematics redundancy

  • The paper focuses on the problem of trajectory planning of flexible redundant robot manipulators (FRM) in joint space. Compared to irredundant flexible manipulators, FRMs present additional possibilities in trajectory planning due to their kinematics redundancy. A trajectory planning method to minimize vibration of FRMs is presented based on Genetic Algorithms (GAs). Kinematics redundancy is integrated into the presented method as a planning variable. Quadrinomial and quintic polynomials are used to describe the segments which connect the initial, intermediate, and final points in joint space. The trajectory planning of FRMs is formulated as a problem of optimization with constraints. A planar FRM with three flexible links is used in simulation. A case study shows that the method is applicable.

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Metadaten
Author:Shigang Yue, Dominik Henrich, W. L. Xu, S. K. Tso
URN (permanent link):urn:nbn:de:hbz:386-kluedo-11577
Document Type:Preprint
Language of publication:English
Year of Completion:2001
Year of Publication:2001
Publishing Institute:Technische Universität Kaiserslautern
Tag:AG-RESY ; RODEO ; flexible-link ; genetic algorithms; redundant robots ; trajectory planning ; vibration
Faculties / Organisational entities:Fachbereich Informatik
DDC-Cassification:004 Datenverarbeitung; Informatik
Collections:AG RESY

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