Control of Redundant Flexible Manipulators with Redundancy Resolution

被引：1

作者：

Subedi, Dipendra ^{[1
]}

Tyapin, Ilya ^{[1
]}

Hovland, Geir ^{[1
]}

机构：

[1] Univ Agder, Dept Engn Sci, Grimstad, Norway

来源：

2022 8TH INTERNATIONAL CONFERENCE ON MECHATRONICS AND ROBOTICS ENGINEERING (ICMRE 2022) | 2022年

关键词：

Elasticity; flexibility; redundant manipulator; redundancy resolution; vibration; optimization; JOINT TORQUE OPTIMIZATION; ROBOT MANIPULATORS; INVERSE KINEMATICS; MOTION;

D O I：

10.1109/ICMRE54455.2022.9734097

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper deals with the online control of a redundant flexible link manipulator to achieve minimum oscillations using the redundancy resolution technique. Different redundancy resolution techniques proposed and used for rigid link manipulators are tested for their use in the case of flexible link manipulators. The simulation model of a planar three-link flexible manipulator is used in this study. The redundancy resolution using kinetic energy minimization techniques is compared with the local joint acceleration minimization method to show the advantage of achieving minimum vibrations.

引用

页码：116 / 121

页数：6

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