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Volume 24 Issue 1
Jan.  1998
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Journal of Beijing University of Aeronautics and Astronautics  > 1998  >  24(1): 112-115.
He Guangping, Lu Zhen. Flexible Redundant Robot Dynamic Planning with Suppressing Vibration and Joint Torque Optimization[J]. Journal of Beijing University of Aeronautics and Astronautics, 1998, 24(1): 112-115. (in Chinese)
Citation: He Guangping, Lu Zhen. Flexible Redundant Robot Dynamic Planning with Suppressing Vibration and Joint Torque Optimization[J]. Journal of Beijing University of Aeronautics and Astronautics, 1998, 24(1): 112-115. (in Chinese)
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Flexible Redundant Robot Dynamic Planning with Suppressing Vibration and Joint Torque Optimization

  • Beijing University of Aeronautics and Astronautics,Dept.of Mechanical and Electrical Engineering

  • Received Date: 10 Jul 1996
  • Publish Date: 31 Jan 1998
    Abstract
  • This paper addresses the dynamic planning of flexible redundant robot to depress the vibrations and to optimize the joint torgues.It has been revealed that both vibrations and joint torques are key factors which have to be deal with.If one take one sided approach to the problem,some torques or vibrations would diverg to infonities.The algorithm leveloped in the paper concerns with the two sides.Instead of conventional null spase method,the optinmal control theory has been used.The simulation has verfified the feasibleness of the method.

     

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  • 1. Meng C H,Chen S J.Dynamic modeling and payload adaptive control of a flexible manipulator.IEEE,Int Conf on R&A,1988,1:488~493 2. Chapnik B V,Heppler G R.Controling the impact response of a one link flexible robots arm.IEEE Trans on R&A,1993,1:346~351 3. Gu Y L.Dynamic and control for redundant robots.IEEE,Int Conf R&A,1988,1:194~198 4. Hsu.P,Hauser J,Sasry S.Dynamic control of redundant manipulators.IEEE,Int Conf on R & A,1988,1:183~187 5. Seraji H.Configuration control of redundant manipulators:Theory and implementation.IEEE,Trans on R&A,1989,5:472~490 6. Nguyen L A,Walker I D,Defiguerirdo R J P.Dynamic control of flexible kinematically redundant robot manipulators.IEEE,Trans on R&A,1992,6:759~767 7. 何广平,陆 震.柔性冗余机器人振动抑制的一种方法.机器人,1997,19(3):173~179
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