MOTION PLANNING FOR COMPLIANT ROBOTS USING MATHEMATICAL PROGRAMMING TECHNIQUES

摘要

The paper describes a new method for motion planning of robots endowed with elastic joints; the proposed approach is based on the definition of a mathematical model of the manipulator and on the use of parametric motion laws for each axis of the machine. The parameters that define the shape of the motion profiles are selected so as to reduce the vibrations of the robot gripper at the end of the motion time (overshooting); the calculation procedure employs mathematical programming techniques, available from literature.