Path Design of Redundant Flexible Robot Manipulators to Reduce Residual Vibration in the Presence of Obstacles

충돌회피 및 잔류진동 감소를 위한 여유자유도 탄성 로봇 매니퓨레이터 경로설계

A method is presented for generating the path which significantly reduces residual vibration of the redundant, flexible robot manipulator in the presence of obstacles. The desired path is optimally designed so that the system completes the required move with minimum residual vibration, avoiding obstacles. The dynamic model and optimal path are effectively formulated and computed by using special moving coordinate, called VLCS, to represent the link flexibility. The path to be designed is developed by a combined Fourier series and polynomial function to satisfy both the convergence and boundary condition matching problems. The concept of correlation coefficients is used to select the minimum number of design variables. A planar three-link manipualtor is used to evaluate this method. Results show that residual vibration can be drastically reduced by selecting an appropriate path, in the presence of obstacles.