NEW MOTION PLANNING METHOD OF FLEXIBLE REDUNDANT MANIPULATORS BY OPTIMIZING REDUNDANT CONFIGURATION

Abstract

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

CLC Number:

TP242

Zhang Xuping;Yu Yueqing. NEW MOTION PLANNING METHOD OF FLEXIBLE REDUNDANT MANIPULATORS BY OPTIMIZING REDUNDANT CONFIGURATION[J]. , 2000, 36(7): 57-60.

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NEW MOTION PLANNING METHOD OF FLEXIBLE REDUNDANT MANIPULATORS BY OPTIMIZING REDUNDANT CONFIGURATION

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