A New Method for Motion Planning of Flexible Redundant Manipulators by Optimizing Initial End-effector Position

Xuping Zhang, Yue-qing Yu

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Abstract

The motion planning of flexible redundant manipu lators is studied, and the new joint motion planning method of end-effector ini tial position is proposed in this paper. By optimizing the initial end-effector position and joint configuration of manipulators simultaneously, the end-point error of flexible robots is decreased through the strategy of initial end-effe ctor position. Compared with previous research, the numerical simulation of a 4R spatial manipulator shows that the method proposed in this paper is more effect ive and more simple.
OriginalsprogKinesisk
TidsskriftJixie Kexue yu Jishu
Vol/bind20
Nummer6
Sider (fra-til)878-880
Antal sider3
ISSN1003-8728
StatusUdgivet - 2001
Udgivet eksterntJa

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