Abstract
We consider a point-to-point motion of a flexible arm mounted on flexible base, and then propose a trajectory planning method for reducing the residual vibrations and driving energy simultaneously. In the proposed method, the joint angle of the flexible arm is expressed by a combination of polynomial and cycloidal functions. In this case, the trajectory profile of the joint angle is dependent upon the coefficients in the polynomial function. In order to minimize the vibrations of the flexible arm and base after the positioning and the driving energy of the joint angle simultaneously, the coefficients are tuned by a multi-objective genetic algorithm, and then the optimal trajectory can be obtained. By rotating the joint angle along the obtained optimal trajectory, the residual vibration can be suppressed with a minimum energy, namely, the proposed trajectory planning method is classified into feedforward vibration control techniques. The validity and effectiveness of the proposed vibration control scheme are substantiated by simulation results. Moreover, we investigate the effect of the flexibility of the base on the driving energy.
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