An efficient motion planning of flexible manipulator along specified path

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2, Issue , 1998, Pages 1104-1109

  Mohri, A ^a   Sarkar, P K ^a   Yamamoto, M ^a  

^a KYUSHU UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

FLEXIBLE MANIPULATORS; MOTION PLANNING; ROBOT PROGRAMMING; ROBOTIC ARMS; ROBOTICS; ACTUATORS; ALGORITHMS; ERROR ANALYSIS; FINITE ELEMENT METHOD; LAGRANGE MULTIPLIERS; POSITION CONTROL; VIBRATIONS (MECHANICAL);

GOAL POINTS; LAGRANGE'S EQUATION; MANIPULATOR ARMS; OFF-LINE COMPUTATION; PERFORMANCE INDICES; POSITIONING ERROR; RESIDUAL VIBRATIONS; TIME-SCALES;

TIME AND MOTION STUDY; MANIPULATORS;

FLEXIBLE MANIPULATORS; RESIDUAL VIBRATIONS;

EID: 0031631851     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1998.677238     Document Type: Conference Paper

References (11)

1. Alberts, T.E., Hastings, G.G., Book, W.J., and Dickerson, S.L. 1985 (June). Experiments in Optimal Control of a Flexible Arm with Passive Damping. Proceedings of the Fifth VPI & SU/AIAA Symposium on Dynamics and Control of Large Structures. 423-435.
2. Jayasuriya, S., and Choura, S. 1991. Oh the Finite Settling Time and Residual Vibration Control of Flexible Structures. Journal of Sound and Vibration. 148 (1) : 117-136.
3. Meckl, P.H., and Seering, W.P. 1985. Minimizing Residual Vibration for Point-To-point Motion. ASME Journal of Vibration, Acoustics, Stress and Reliability in Design. 107(4):378-382.
4. Onsay, T., and Akay, A. 1991. Vibration Reduction of a Flexible Arm by Time-Optimal Open-Loop Control. Journal of Sound and Tlibration. 147(2):283-300.
5. Park, K., and Park, U. 1993. Fourier-balsed Optimal Design of a Flexible Manipulator Path to Reduce Residual Vibration of the Endpoint. Robotica, 11(3):263-272.
6. Sarkar, P.K., Yamamoto, M., and Mohri, A. 1997. Significance of Spline Curve in Path Planning of Flexible Manipulator. Proceedings of IEEE International Conference on Robotics and Automation. 2535-2540.
7. Sarkar, P.K., Yamamoto, M., and Mohri, A. 1997. Sub-optimal Trajectory Planning of Flexible Manipulator along Specified Path. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. 1540-1545.
8. Singer, N.C., and Seering, W.P. 1990. Preshaping Command Inputs to Reduce System Vibration. ASME Journal of Dynamic Systems, Measurement and Control. 112:76-82.
9. Theodore, R.J., and Ghosal, A. 1995. Comparison of the Assumed Modes and Finite Element Models for Flexible Multilink Manipulators. The International Journal of Robotics Research, 14(2):91-111.
10. Turner, J.D., and Junkins, J.L. 1980. Optimal Large-Angle Single-Axis Rotational Maneuvers of Flexible Spacecraft. AIAA Journal of Guidance and Control. 3:578-585.
11. Usoro, P.B., Nadira, R., and Mahil, S.S. 1986. A Finite Element/Lagrange Approach to Modeling Lightweight Flexible Manipulators. ASME Journal of Dynamic Systems, Measurement, and Control. 108: 198-205.