On Time-Optimal Trajectory Planning for a Flexible Link Robot
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The 13th Mechatronics Forum Internation Conference
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This paper focuses on time optimal trajectory planning for robots with flexible links. Minimum time trajectories along specified paths as well as time optimal point to point motions, that avoid vibration excitation due to elastic deflec-tions at the endeffector, are determined. This is achieved by additionally constraining parts of the generalized forces (GF) and generalized force derivatives (GFD) of the dynamical robot model. Experimental results show the improvement concerning vibration damping.