关键词: 规划, 冗余位形, 柔性, AA5083铝合金, T2纯铜, 关键词：线性摩擦焊, 金属间化合物

Abstract: The motion planning of flexible redundant manipulators is studied, and the new concept of redundant configuration is proposed. By optimizing the initial joint configuration and the self-motion of manipulators simultaneously, the end-point error of flexible robots is decreased through the strategies of redundant configuration. Compared with previous research, the numerical simulation of a 4R spatial manipulator shows that the method developed in this study is effective.

Key words: Flexibility, Planning, Redundancy configuration, AA5083 alloy, Intermetallic, T2 pure copper, Keywords: Linear friction welding