Self-motion utilization for reducing vibration of a structurally flexible redundant robot manipulator system

摘要

This paper focuses on overcoming the problem of tracking control in structurally flexible redundant manipulators by utilizing their self-motion capabilities. In the proposed algorithm, the self-motion is evaluated in order to nullify the dominant modal force of flexural motion that is induced by a rigid body motion. The flexure motions of manipulators, which are induced By joint motion, cause undesired inaccuracy in end-effector Tracking.