Optimal path planning for flexible plate handling using an n-link manipulator

摘要

In this paper on optimal path planning for handling a flexible plate using an n-manipulator, weconsider manipulator joint trajectory to achieve the desired flexible plate configuration withoutinducing vibration. We start by deriving equations of motion and vibration for general n-linkmanipulators with a flexible plate, then, using eigenfunction expansion, derive an approximated finitedimensional modal model. The model of flexible plate vibration implies that angularly accelerating themanipulator joints excites vibration, so we use optimal trajectory planning to minimize acceleration;this trajectory is calculated using a numerical iterative algorithm, and the trajectory's validity isdemonstrated by experiments for an air-driven two-link robot arm.