Design of Optimized Trajectory for Flexible Robotic Arms

This article presents an improved method with a combination of energy methods and the concepts of differential relationships to more accurately calculate the static deflection at the end-effector. A systematic approach to deflection calculation through Jacobian matrix is presented. The theoretical deflection analysis is verified by simulation results. Also a two-link robot is used for numerical illustration and calculation procedure and the total deflection analysis of the end-effector is calculated with respect to base. Finally, the deflection statements and the endeffector positioning errors are minimized considering that the deflection functions are differentiable.

کلیدواژه ها:

Trajectory Optimization ، Flexible Arm ، Deflection Analysis Methods