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A geometric optimization method for the trajectory planning of flexible manipulators

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Abstract

Lightweight and flexible robots offer an interesting answer to industrial needs for safety and efficiency. The control of such systems should be able to deal properly with the flexible behavior in the links and the joints. In this paper, a feedforward control action is computed by solving the inverse dynamics of the system. Flexibility in the system is modeled using finite elements formulated in the local frame. The inverse problem is then solved using a constrained optimization formulation. This local frame representation reduces the nonlinearity in the equations of motion and improves the convergence of the numerical scheme. To illustrate the method, numerical examples of a serial and a parallel 3D robot are shown.

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Acknowledgements

The first author would like to acknowledge the Belgian Fund for Research training in Industry and Agriculture for its financial support (FRIA grant).

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Authors and Affiliations

  1. Department of Aerospace and Mechanical Engineering, University of Liège, Liège, Belgium

    Arthur Lismonde & Olivier Brüls

  2. Aerospace Engineering, University of Maryland, College Park, USA

    Valentin Sonneville

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  1. Arthur Lismonde
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  2. Valentin Sonneville
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  3. Olivier Brüls
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Correspondence to Arthur Lismonde.

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The first author would like to acknowledge the Belgian Fund for Research training in Industry and Agriculture for its financial support (FRIA grant)

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Lismonde, A., Sonneville, V. & Brüls, O. A geometric optimization method for the trajectory planning of flexible manipulators. Multibody Syst Dyn 47, 347–362 (2019). https://doi.org/10.1007/s11044-019-09695-z

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