Optimal joint trajectory planning for a robot with elastic links

The optimal joint angle trajectory planning of light-weight flexible manipulator is investigated based on the cycloidal motions of each joint. The objective of the optimization is the minimization of link tip vibrations during and after joint motion, and the design variables are the inflection or switch point of the cycloidal motion; The Lagrangian equations are used to derive the dynamic equations of motion and the Assumed-modes method is used for numerical solution. The proposed optimum joint angle trajectory can be implemented by off-line programming for the minimum vibration of robot arms; One and two flexible links cases are investigated and computer simulation is performed for different payloads and manipulator configurations.

Name thesis:degree_name

Master of Science (MS)

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Mechanical Engineering

Grantor dc:publisher

University of Nevada, Las Vegas

Year

1990

Author dc:creator

• Hu, Yung-Ming

Statement dc:rights

• IN COPYRIGHT. For more information about this rights statement, please visit http://rightsstatements.org/vocab/InC/1.0/

Language dc:language

English

Identifier

https://oasis.library.unlv.edu/rtds/113

OAI identifier oai:identifier

oai:oasis.library.unlv.edu:rtds-1112