Optimal Path Planning for Flexible Plate Handling Using an n-Link Manipulator
Department of Computational Intelligence and Systems Science, Graduate School of Science and Engineering, Tokyo Institute of Technology, 4259 Nagatsuta, Midori-ku, Yokohama, 226-8502 Japan
In this paper on optimal path planning for handling a flexible plate using an n-manipulator, we consider manipulator joint trajectory to achieve the desired flexible plate configuration without inducing vibration. We start by deriving equations of motion and vibration for general n-link manipulators with a flexible plate, then, using eigenfunction expansion, derive an approximated finite dimensional modal model. The model of flexible plate vibration implies that angularly accelerating the manipulatorjoints 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 is demonstrated by experiments for an air-driven two-link robot arm.