Master of Science (MS)
Number of Pages
The optimal joint angle trajectory planning of light-weight flexible manipulator is investigated based on the cycloidal motions of each joint. The objective of the optimization is the minimization of link tip vibrations during and after joint motion, and the design variables are the inflection or switch point of the cycloidal motion; The Lagrangian equations are used to derive the dynamic equations of motion and the Assumed-modes method is used for numerical solution. The proposed optimum joint angle trajectory can be implemented by off-line programming for the minimum vibration of robot arms; One and two flexible links cases are investigated and computer simulation is performed for different payloads and manipulator configurations.
Elastic; Joint; Links; Optimal; Planning; Robot; Trajectory
University of Nevada, Las Vegas
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Hu, Yung-Ming, "Optimal joint trajectory planning for a robot with elastic links" (1990). UNLV Retrospective Theses & Dissertations. 113.