Optimal Motion of Flexible Objects with Oscillations Elimination at the Final Point

2016/06/08 by Natalia Varminska, Damien Chablat, Varminska, Natalia +1
Computer Science · #FOS: Computer and information sciences #Robotics (cs.RO) #cs.RO

paper · pdf · doi:10.48550/arxiv.1606.02451

Eucomes, Sep 2016, Nantes, France. Springer, 2016

arxiv created 2016/06/08 · arxiv updated 2016/06/09

Abstract

In this article, a theoretical justification of one type of skew-symmetric optimal translational motion (moving in the minimal acceptable time) of a flexible object carried by a robot from its initial to its final position of absolute quiescence with the exception of the oscillations at the end of the motion is presented. The Hamilton-Ostrogradsky principle is used as a criterion for searching an optimal control. The data of experimental verification of the control are presented using the Orthoglide robot for translational motions and several masses were attached to a flexible beam.

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