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How to reduce the vibration deformation of robot manipulators with flexible joint is a significant problem. A new approach based on simplified system dynamic model and genetic algorithms (GA) is developed to find an optimized trajectory in joint space for a three degrees-of-freedom plane flexible joints manipulator, to reduce the residual vibration of the robot on the occasion of fast position control...
Optimal trajectory planning for robot manipulators is a very important issue in the research field of robotics. Many applications require smooth trajectories and the minimization of a performance index, usually the traveling time or the mechanical energy of the actuators. This paper presents a novel method that uses eighth-degree polynomial functions to generate smooth trajectories for the parametric...
A technique for optimal trajectory planning of robot manipulators is presented. It consists of linking two points in the operational space while minimizing a cost function, taking into account dynamic equations of motion as well as bounds on joint velocities, accelerations, jerks and force/torques. We choose the cost function as a weighted balance of traveling time and mechanical energy of the actuators...
This paper presents kinematics, dynamics and trajectory planning of robot for cleaning the surface below the railway tracks at a platform. The existing cleaning process on the tracks at Indian railway platform is manual, which is tedious particularly, when the frequency of the trains is very high. The end-effector of the manipulator is a nozzle to throw water as cleaning medium. In the first part...
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