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Journal of Mechanical Science and Technology

, Volume 33, Issue 1, pp 413–421 | Cite as

Trajectory planning of multi-degree-of-freedom robot with coupling effect

  • Kunming Zheng
  • Youmin Hu
  • Bo Wu
Article
  • 1 Downloads

Abstract

For a multi-degree-of-freedom (MDOF) robot with flexible components, vibration errors can easily occur during operation. Thus, the position of the end effector inevitably deviates from its desired value and causes failure of the precise trajectory tracking task. To solve this problem, an MDOF KUKA robot is introduced in the present study. We propose a new methodology to investigate the dynamic coupling effect and trajectory planning for the robot. The dynamic coupling effect index is defined for the first time, thereby providing a theoretical basis for the trajectory planning. Moreover, a new trajectory plan is adopted to reduce the vibration errors caused by the coupling effect in the Cartesian coordinate and joint coordinate systems. The advantages of the proposed methodology in improving accuracy and stability are validated by experiments. In addition, the chaos phenomenon is observed, which is the focus of our future study.

Keywords

Multi-degree-of-freedom robot Coupling constraints Dynamic coupling effect Trajectory planning Vibration error reduction 

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Copyright information

© The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  1. 1.School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan, Hubei ProvinceChina
  2. 2.HUST-Wuxi Research InstituteWuxi, Jiangsu ProvinceChina

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