Abstract
This paper presents a trajectory planning method for suppressing residual vibrations of a flexible dual-manipulator. To construct the mathematical model of the manipulator system accurately, the parameters of the equations of motion are experimentally identified. In the control technique, we express the joint angle by a cubic spline function, and then use a particle swarm optimization to find an optimal path. The optimal path thus obtained carries a minimum vibration requirement. The suppression of the residual vibrations of the flexible dual-manipulator can be accomplished by rotating the joint angle along the optimal path, that is, the proposed control scheme is a feedforward control that does not require sensors to measure unwanted vibrations. The validity and effectiveness of the proposed vibration control scheme are substantiated by simulation and experimental results.
