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Self-motion utilization for reducing vibration of a structurally flexible redundant robot manipulator system

Published online by Cambridge University Press:  05 April 2001

Seon-Jae Kim
Affiliation:
Center for Noise and Vibration Control, Department of Mechnical Engineering, Korea Advanced Institute of Science and Technology, Science Town, Taejon 305–701, Korea
Youn-Sik Park
Affiliation:
Center for Noise and Vibration Control, Department of Mechnical Engineering, Korea Advanced Institute of Science and Technology, Science Town, Taejon 305–701, Korea

Abstract

This paper focuses on overcoming the problem of tracking control in structurally flexible redundant manipulators by utilizing their self-motion capabilities. In the proposed algorithm, the self-motion is evaluated in order to nullify the dominant modal force of flexural motion that is induced by a rigid body motion.

The flexure motions of manipulators, which are induced by joint motion, cause undesired inaccuracy in end-effector tracking. In-plath planning states, joint trajectories are so designed as not to excite but to damp out the flexure motions. The self-motion, inherent in redundant manipulators, can alter joint motion, influencing the flexure motion (by exciting and damping the flexure modes), while not affecting end-effector motion at all. Therefore, the self-motion can be utilized to regulate flexibility and effectively reduce the end-effector tracking error.

The effectiveness and applicability of the proposed algorithm have been demonstrated through numerical simulation with three-link planar robotic manipulators possessing flexible links.

Type
Research Article
Copyright
© 1998 Cambridge University Press

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