Abstract
This paper presents the optimal path planning for a two-link rigid-flexible manipulator to suppress the residual vibration. In order to obtain a mathematical model properly, the flexible link is modeled by considering the axial displacement, due to large bending deformation, based on inextensibility condition. The Lagrangian approach in conjunction with the assumed modes method is applied to derive the equation of motion of the manipulator. In the path planning, we express the joint angle by cubic spline function, and then use a particle swarm optimization to find an optimal path. The optimal path thus obtained has minimum vibration requirement. In the numerical calculation, we verify the effectiveness of the proposed trajectory planning.
