Optimal Trajectory Planning for a Flexible Manipulator —An Approach for Minimizing Driving Energy and Residual Vibration—

Akira ABE; Kazunori SASAMORI

doi:10.9746/sicetr.46.130

Transactions of the Society of Instrument and Control Engineers

Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654

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Article overview

Short Paper

Optimal Trajectory Planning for a Flexible Manipulator

—An Approach for Minimizing Driving Energy and Residual Vibration—

Akira ABE, Kazunori SASAMORI

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Keywords: flexible manipulator, trajectory planning, driving energy, residual vibration, multi-objective optimization

JOURNAL FREE ACCESS

2010 Volume 46 Issue 2 Pages 130-132

DOI https://doi.org/10.9746/sicetr.46.130

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Abstract

This paper proposes an optimal trajectory planning for a flexible manipulator in a point-to-point motion. In order to get the optimal trajectory, two objective functions are considered: the first is the driving energy and another one is the residual vibration.

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