Abstract
The significant effect of initial configurations of flexible redundant robot manipulators is analyzed in the paper. It is found that the endpoint vibrations of a flexible redundant manipulator are quite different while performing the same endpoint trajectory starting from different initial configurations. Thus an optimal initial configuration with lower vibrations is found based on analysis before the manipulator starts to move. Only small and acceptable vibrations can be stimulated if the flexible redundant manipulator starts to move from the optimal configuration. Lots of computer time can be saved compared with optimal joint planning method. The method can be used in real-time control.
Neural network based control scheme for redundant robot manipulators subject to multiple self-motion criteria
