Breakthrough in Saving Energy Driving for a Flexible Manipulator

Abstract

This paper deals with the point-to-point (PTP) motion control of a flexible manipulator, in which we attempt to suppress simultaneously the residual vibration and driving energy. The driving energy of the PTP motion of a flexible manipulator depends on the initial deflection. We consider the physical phenomenon and then propose a novel trajectory planning method of the joint angle of a flexible manipulator. The effectiveness of the proposed method is demonstrated through simulations and experiments.