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Trajectory Planning in joint space for flexible robots with kinematics redundancy
Shigang Yue , Dominik Henrich , S. K. Tso , W. L. Xu

Abstract (english)
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.

Publication data

Year: 2001
Publication date: 12. June 2001
Source: The IASTED International Conference MODELLING, IDENTIFICATION AND CONTROL February 19-22, 2001, Innsbruck, Austria
Keywords (english): flexible-link robot , genetic algorithms , redundancy , trajectory planning , vibration
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=yue2001c

BibTeX

@MISC{yue2001c,
  TITLE             = "Trajectory Planning in joint space for flexible robots with kinematics redundancy",
  AUTHOR            = "Yue, Shigang and Henrich, Dominik and Tso, S. K. and Xu, W. L.",
  YEAR              = "2001",
  JOURNAL           = "The IASTED International Conference MODELLING, IDENTIFICATION AND CONTROL February 19-22, 2001, Innsbruck, Austria",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=yue2001c}",
}

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yue2001c.Trajectory.Planning.in.joint.space.for.flexible.robots.with.kinematics.redundancy.djvu   156.4K   english   DJVU   download preprint
yue2001c.Trajectory.Planning.in.joint.space.for.flexible.robots.with.kinematics.redundancy.pdf   326.5K   english   PDF   download preprint


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