scholarly journals Trajectory Planning of a Constrained Flexible Manipulator

10.5772/4671 ◽  
2005 ◽  
Author(s):  
Atef A. ◽  
Habib Johar
Keyword(s):  
Trajectory Planning ◽  
Flexible Manipulator

Lower Distortion in Trajectory Planning for a Rigid-Flexible Manipulator Based on PSO Algorithm

2013 ◽  
Vol 300-301 ◽  
pp. 458-463
Author(s):  
Hai Bin Yin ◽  
Ni Cong Jiang ◽  
Jin Li Xu ◽  
Feng Yun Huang
Keyword(s):  
Trajectory Planning ◽  
Optimization Algorithm ◽  
Optimization Algorithms ◽  
Pso Algorithm ◽  
Flexible Manipulator ◽  
Specific Site ◽  
Site Conditions ◽  
Site Condition

This paper presents a novel trajectory planning for a multilink rigid-flexible manipulator. An original trajectory is given according to the site condition and requirement of motion, and desired trajectory is determined by using an optimization. To satisfy the requirement of motion with restrictions, the desired trajectory cannot significantly deviate from the original trajectory. Consequently, the lower distortion in trajectory planning should be considered in optimization algorithm. Two different formulations of trajectory are introduced in two optimization algorithms to compare the distortion degree. Finally, the calculation samples are addressed by using specific site conditions and requirements of motion to verify the validity of proposal.

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