Abstract
Residual vibration after point-to-point motion is one of the main factors affecting the working performance and service life of flexible link manipulators. In this paper, a trajectory planning method based on the transfer matrix method of multibody system (MSTMM) is proposed to suppress the residual vibration of a two-link rigid-flexible manipulator. Firstly, the dynamic model of the system is established by MSTMM. Secondly, the boundary value of the joint trajectory and the system dynamics model are used as constraints to construct an objective function, which is the average minimum value of the tip deformation of the flexible connecting rod after the point-to-point movement of the manipulator. Finally, the particle swarm optimization (PSO) algorithm is used to solve the trajectory optimization. Numerical simulation is used to verify the effectiveness of the proposed method. The method proposed in this paper uses MSTMM to describe the dynamic characteristics of the manipulator, which not only effectively improves the efficiency of trajectory optimization, but also provides theoretical support for the vibration suppression of the spatial multi-flexible link manipulator.
Published Version
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