TRAJECTORY SYNTHESIS AND REDUNDANCY RESOLUTION FOR HIGH SPEED POINT TO POINT MOTIONS OF REDUNDANT ROBOT MANIPULATORS

摘要

Trajectory synthesis for robot manipulators with redundantrnkinematic degrees-of-freedom has been studied by numerous investigators.rnRedundant manipulators are of interest since the redundantrndegrees-of-freedom can be used to improve the local andrnglobal kinematic and dynamic performance of a system. As a robotrnmanipulator is forced to track a given trajectory, the required actuatingrntorques (forces) may excite the natural modes of vibrationrnof the system. Noting that manipulators with revolute joints havernnonlinear dynamics, high harmonic excitation torques are generallyrngenerated even though such harmonics have been eliminatedrnfrom the synthesized trajectories and filtered from the drive inputs.rnIn this paper, a redundancy resolution method is developedrnbased on the Trajectory Pattern Method (TPM) to synthesize trajectoriesrnsuch that the actuating torques required to realize themrndo not contain higher harmonic components with significant amplitudes.rnWith such trajectories, a robot manipulator can operaternat higher speeds and achieve higher tracking accuracy with suprnpressed residual vibration. As an example, optimal trajectories arernsynthesized for point to point motions of a plane 3R manipulator.