Minimum Jerk Trajectory Planning of PUMA560 with Intelligent Computation using ANN

Devi, M Aruna; Prakash, Chander; Jadhav, Praveen D; Hebbar, Prajwal S; Mohsin, Mohammed; S, Shashank

doi:10.1109/icict50816.2021.9358674

Cited by 5 publications

(1 citation statement)

References 21 publications

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“…f) Minimize the energy function by minimizing the joint torque requirement. Minimumjerk trajectory planning [Ramabalan et al, 2017] (168) ; [Lu et al, 2017] (169) ; [Zribi et al, 2018] (170) ; [Huang et al, 2018] (171) ; [Rout et al, 2018] (172) ; [Rojas et al, 2019] (173) ; [Fang et al, 2019] (174) ; [Zhou et al, 2020] (175) ; [Oliveira et al, 2020] (176) ; [Devi et al, 2021] (177) Minimum-jerk trajectories produce motions similar to that of human joints (119) . They also minimize vibrations.…”

Section: Conclusion From Literature Survey On Trajectory Controlmentioning

confidence: 99%

Dynamic Modelling and Control of Flexible Link Manipulators: Methods and Scope - Part 2

Mishra¹,

Singh²

2021

IJST

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Objectives: This paper addresses two key issues in the area of flexible robotics. The issues are vibration control of flexible links and trajectory control of flexible robots. A brief, yet, significant review is provided that addresses these two issues. Methods: For vibration control of flexible links, possibilities of the use of passive and active damping methods are explored in the literature. After that, the effect of proper trajectory planning to ensure positional accuracy at the end-effector is studied. Findings: After a review of 181 research papers from the year 1970 to 2021, it has been found that the vibration suppression of flexible links can be achieved through the application of viscoelastic materials, piezoelectric materials, and optimum trajectory planning. Recent trends in research in the area of flexible manipulators show that an optimal trajectory can significantly help in reduction of link vibrations and achievement of positional accuracy simultaneously. Novelty: The novelty of the present work lies in exploring the possible application of passive and active damping control methods for vibration suppression of flexible link manipulators. Besides that, the survey also highlights how well planned trajectory may help achieve accurate tip positioning of flexible robots.

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