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Self-motion utilization for reducing vibration of a structurally flexible redundant robot manipulator system

Published online by Cambridge University Press:  05 April 2001

Seon-Jae Kim  and
Youn-Sik Park
Seon-Jae Kim
Affiliation:
Center for Noise and Vibration Control, Department of Mechnical Engineering, Korea Advanced Institute of Science and Technology, Science Town, Taejon 305–701, Korea
Youn-Sik Park
Affiliation:
Center for Noise and Vibration Control, Department of Mechnical Engineering, Korea Advanced Institute of Science and Technology, Science Town, Taejon 305–701, Korea
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Abstract

This paper focuses on overcoming the problem of tracking control in structurally flexible redundant manipulators by utilizing their self-motion capabilities. In the proposed algorithm, the self-motion is evaluated in order to nullify the dominant modal force of flexural motion that is induced by a rigid body motion.

The flexure motions of manipulators, which are induced by joint motion, cause undesired inaccuracy in end-effector tracking. In-plath planning states, joint trajectories are so designed as not to excite but to damp out the flexure motions. The self-motion, inherent in redundant manipulators, can alter joint motion, influencing the flexure motion (by exciting and damping the flexure modes), while not affecting end-effector motion at all. Therefore, the self-motion can be utilized to regulate flexibility and effectively reduce the end-effector tracking error.

The effectiveness and applicability of the proposed algorithm have been demonstrated through numerical simulation with three-link planar robotic manipulators possessing flexible links.

Keywords

Redundant manipulatorsRedundancy resolutionFlexible manipulatorsVibration reductionSelf-motion utilizationModal force nullification
Type
Research Article
Information
Robotica , Volume 16 , Issue 6 , November 1998 , pp. 669 - 677
Copyright
© 1998 Cambridge University Press

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