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Near Time-Optimal Flexible-Joint Trajectory Planning Algorithm for Robotic Manipulators

Ruf, Markus (2018) Near Time-Optimal Flexible-Joint Trajectory Planning Algorithm for Robotic Manipulators. IEEE Conference on Control Technology and Applications, 21.-24. Aug 2018, Kopenhagen, Dänemark.

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In this paper, a new hybrid time-optimal flexible joint trajectory planning algorithm is introduced. Time-optimal rigid-body trajectories contain sudden changes of acceleration, which can result in violation of constraints when applied to flexible robotic manipulators. The abrupt acceleration changes are replaced by a smooth time-optimal switching strategy, which is based on the solution of a two-mass oscillator two-point boundary-value problem. It is designed such that the twomass oscillator’s flexible modes are not excited. In between the transitions, a multi-axis rigid-body model is used. This combination of flexible and rigid-body models allows to design a computationally very efficient trajectory planning algorithm, which considers multi-axis dynamics as well as some important inherent flexibilities.

Item URL in elib:https://elib.dlr.de/121488/
Document Type:Conference or Workshop Item (Speech)
Title:Near Time-Optimal Flexible-Joint Trajectory Planning Algorithm for Robotic Manipulators
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Ruf, MarkusMarkus.Ruf (at) dlr.deUNSPECIFIED
Date:22 August 2018
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 265-272
Keywords:robotics, robot manipulator, trajectory planning
Event Title:IEEE Conference on Control Technology and Applications
Event Location:Kopenhagen, Dänemark
Event Type:international Conference
Event Dates:21.-24. Aug 2018
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Deposited By: Ginta, Sabin-Mihai
Deposited On:11 Oct 2018 11:25
Last Modified:16 Jul 2019 14:06

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