Path design of redundant flexible robot manipulators to reduce residual 
vibration in the presence of obstacles

Park, Kyung-Jo

doi:10.1017/s0263574703005010

Cited by 13 publications

(2 citation statements)

References 15 publications

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“…Cui et al (2019) established a flexible dynamic model of the robot, and the trajectory functions were defined as quintic polynomials, then the trajectory planning problem is transferred to an optimal problem. Park (2003) obtained the dynamic model and optimal path by a combined Fourier series and polynomial function to satisfy both the convergence and boundary condition matching problems. Bian (2008) proposed a new idea of suppressing vibration, in which independent motions of the branch links were used to suppress the undesired vibration of the flexible main chain through dynamic coupling.…”

Section: Introductionmentioning

confidence: 99%

Vibration suppression of collaborative robot based on modified trajectory planning

Tian

Xiang²,

Wang³

et al. 2022

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Purpose The paper aims to reduce the low-frequency resonance and residual vibration of the robot during the operation, improve the working accuracy and efficiency. A reduced weight and large load-to-weight ratio can improve the practical application of a collaborative robot. However, flexibility caused by the reduced weight and large load-to-weight ratio leads to low-frequency resonance and residual vibration during the operation of the robot, which reduces the working accuracy and efficiency. The vibrations of the collaborative robot are suppressed using a modified trajectory-planning method. Design/methodology/approach A rigid-flexible coupling dynamics model of the collaborative robot is established using the finite element and Lagrange methods, and the vibration equation of the robot is derived. Trajectory planning is performed with the excitation force as the optimization objective, and the trajectory planning method is modified to reduce the vibration of the collaborative robot and ensure the precision of the robot terminal. Findings The vibration amplitude is reduced by 80%. The maximum torque amplitude of the joint before the vibration suppression reaches 50 N·m. After vibration suppression, the maximum torque amplitude of the joint is 10 N·m, and the resonance phenomenon is eliminated during the operation process. Consequently, the effectiveness of the modified trajectory planning method is verified, where the vibration and residual vibration in the movement of the collaborative robot are significantly reduced, and the positioning accuracy and working efficiency of the robot are improved. Originality/value This method can greatly reduce the vibration and residual vibration of the collaborative robot, improve the positioning accuracy and work efficiency and promote the rapid application and development of collaborative robots in the industrial and service fields.

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Section: Introductionmentioning

confidence: 99%

Vibration suppression of collaborative robot based on modified trajectory planning

Tian

Xiang²,

Wang³

et al. 2022

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“…There have been numerous studies on the path planning of flexible manipulators. Park and Park 11 and Park 12,13 employed a combined Fourier series and polynomial function and designed an optimal path for reducing the residual vibration after positioning. Mohri et al 14 developed the motion planning method for minimizing the residual vibration of a two-link flexible manipulator; this method was based on the optimization of the residual energy at the goal point configuration.…”

Section: Introductionmentioning

confidence: 99%

Trajectory planning for flexible Cartesian robot manipulator by using artificial neural network: numerical simulation and experimental verification

Abe

2010

Robotica

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SUMMARYThis paper presents a novel trajectory planning method for a flexible Cartesian robot manipulator in a point-to-point motion. In order to obtain an exact mathematical model, the parameters of the equation of motion are determined from an identification experiment. An artificial neural network is employed to generate the desired base position, and then, a particle swarm optimization technique is used as the learning algorithm, in which the sum of the displacements of the manipulator is chosen as the objective function. We show that the residual vibrations of the manipulator can be suppressed by minimizing the displacement of the manipulator. The effectiveness and validity of the proposed method are demonstrated by comparing the simulation and experimental results.

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An effective trajectory planning method for simultaneously suppressing residual vibration and energy consumption of flexible structures

Abe

2016

Case Studies in Mechanical Systems and Signal Processing

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Path design of redundant flexible robot manipulators to reduce residual vibration in the presence of obstacles

Cited by 13 publications

References 15 publications

Vibration suppression of collaborative robot based on modified trajectory planning

Vibration suppression of collaborative robot based on modified trajectory planning

Trajectory planning for flexible Cartesian robot manipulator by using artificial neural network: numerical simulation and experimental verification

An effective trajectory planning method for simultaneously suppressing residual vibration and energy consumption of flexible structures

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