Abstract
In this paper, we consider optimal handling strategies of flexible beams by using N-link manipulators. We derive the equations of the motion of an N-link manipulator with a flexible beam are derived. On the basis of the dynamic equations, the optimal input torques, which accomplish the desired end-position of the manipulator and the deminution of the vibration of the flexible beam, are calculated by using a numerical algorithm for the optimal control of the nonlinear equations. As the equation of the vibration of the flexible beam implies that the acceleration of the end-point of the manipulator excite the vibration, we consider an optimal trajectory planning so as to minimize the end-point acceleration. The validity of the optimal input torques and the optimal trajectory are demonstrated by computer simulations and experiments, respectively.
