A STUDY OF OPTIMAL TRAJECTORY GENERATION FOR FLEXIBLE MANIPULATOR MOUNTED ON FLEXIBLE LINK

In this study, we specifically examined the point-to-point motion task of a flexible manipulator attached to a flexible link, and we presented an optimal trajectory planning technique for suppressing residual vibrations of a flexible manipulator and link. We attempted to generate the trajectory of the manipulator using a combination of polynomial functions and a cycloidal function. The coefficients of the polynomial functions were tuned using a differential evolution algorithm, after which the optimal trajectory can be obtained. Results obtained from simulations and experiments demonstrated the effectiveness of the proposed trajectory planning method for suppressing residual vibrations.