Klemens Springer, Peter Staufer, Hubert Gattringer,
"On Time-Optimal Trajectory Planning for a Flexible Link Robot"
, in R. Scheidl, B. Jakoby: The 13th Mechatronics Forum International Conference, Trauner Verlag, 9-2012, ISBN: 978-3-99033-042-5
On Time-Optimal Trajectory Planning for a Flexible Link Robot
Sprache des Titels:
The 13th Mechatronics Forum International Conference
This paper focuses on time optimal trajectory planning for robots with flexible links. Minimum time trajectories along specified paths as well as time optimal point to point motions, that avoid vibration excitation due to elastic deflec-tions at the endeffector, are determined. This is achieved by
additionally constraining parts of the generalized forces (GF) and generalized force derivatives (GFD) of the dynamical robot model. Experimental results show the improvement concerning vibration damping.