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

Xuping Zhang; Yue-qing Yu

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

Publikation: Bidrag til tidsskrift/Konferencebidrag i tidsskrift /Bidrag til avis › Konferenceartikel › Forskning › peer review

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.

Originalsprog	Kinesisk
Tidsskrift	Jixie Kexue yu Jishu
Vol/bind	20
Nummer	6
Sider (fra-til)	878-880
Antal sider	3
ISSN	1003-8728
Status	Udgivet - 2001
Udgivet eksternt	Ja

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Citationsformater

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

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.",

author = "Xuping Zhang and Yue-qing Yu",

year = "2001",

language = "Kinesisk",

volume = "20",

pages = "878--880",

journal = "Jixie Kexue yu Jishu",

issn = "1003-8728",

publisher = "Editorial Board of Mechanical Science and Technology for Aerospace Engineering",

number = "6",

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AU - Zhang, Xuping

AU - Yu, Yue-qing

PY - 2001

Y1 - 2001

N2 - 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.

AB - 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.

M3 - Konferenceartikel

SN - 1003-8728

VL - 20

SP - 878

EP - 880

JO - Jixie Kexue yu Jishu

JF - Jixie Kexue yu Jishu

IS - 6

ER -