NDLI: Cubic-Spline Trajectory Planning of a Constrained Flexible Manipulator

Content Provider	IEEE Xplore Digital Library
Author	Ata, A.A. Johar, H.
Copyright Year	2005
Description	Author affiliation: Mechatronics Engineering Department Faculty of Engineering, IIUM Jalan Gombak, Kuala Lumpur 53100, Malaysia; atef@iiu.edu.my (Ata, A.A.)
Abstract	A cubic-splines trajectory planning of a constrained rigid-flexible manipulator to minimize the contact force is considered. Based on the general dynamic model of the chain of flexible links, equations of motion for the manipulator are derived using the extended Hamilton’s principle. An analytical solution for the inverse dynamics problem using the assumed modes method is presented to compute the required joint torques for the tip mass to move along the constrained surface. Cubic-splines interpolation has been adjusted for the joint motion profiles to make sure that the end-effector will follow the prescribed trajectory without degradation. The knot points of the trajectories have been chosen on the constrained surface to achieve minimum contact force as possible.
Starting Page	3126
Ending Page	3130
File Size	238304
Page Count	5
File Format	PDF
ISBN	078038914X
DOI	10.1109/ROBOT.2005.1570591
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Manipulator dynamics Force control Robots Motion control Mechatronics Equations Motion analysis Position control Coordinate measuring machines assumed modes Rigid-flexible manipulator Cubic-spline trajectory planning constrained motion analytical
Content Type	Text
Resource Type	Article

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