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- W2378620312 abstract "When a manipulator is flexible, it is much more difficult to trace a given end-effector′s trajectory accurately due to the flexural vibration induced by its flexibility. Therefore, how to eliminate vibration effectively is a very important problem. In this paper, a method for avoiding the flexural vibration of the flexible manipulators is presented. Firstly, the factors influencing the end-effector′s vibration of a flexible manipulator are analyzed. On this basis, a conclusion is drawn that a flexible manipulator can avoid the flexural vibration effectively through planning its joint kinematic parameters properly while its structure parameters and end-effector trajectory remain unchanged. Then the relationship between its joint kinematic parameters and end-effector kinematic parameters is studied, and a method for reducing the flexural vibration of a flexible manipulator is proposed. Using this method, the flexural vibration of a flexible manipulator can be avoided effectively and reduced remarkably by planning its end-effector kinematic parameters to adjust its joint kinematic parameters. Furthermore, the corresponding algorithm is presented. Finally, simulations show that the method is feasible." @default.
- W2378620312 created "2016-06-24" @default.
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- W2378620312 date "2004-01-01" @default.
- W2378620312 modified "2023-09-23" @default.
- W2378620312 title "A Method for Avoiding Vibration of the Flexible Manipulators" @default.
- W2378620312 hasPublicationYear "2004" @default.
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