On Time-Optimal Trajectory Planning for a Flexible Link Robot

  • Klemens Springer (Speaker)

Activity: Talk or presentation › Contributed talk › unknown

Description

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.
Period17 Sept 2012
Event titleThe 13th Mechatronics Forum Internation Conference
Event typeConference
LocationAustriaShow on map

Fields of science

  • 202035 Robotics
  • 203022 Technical mechanics
  • 203013 Mechanical engineering
  • 203015 Mechatronics

JKU Focus areas

  • Mechatronics and Information Processing