Reference Dynamics Based Motion Planning for Robotic Systems with Flexible Components
Analysis of robot dynamics based motion planning is presented in the chapter. Motion of a robot is task based and is formulated upon work dedicated to it. The focus of motion planning is positioning and velocity of the robot end-effector, which are programmed by position and kinematic constraint equations. The constraints are incorporated into the system dynamics, referred to as reference dynamics, whose outputs deliver position and velocity time histories of the end-effector and joints. A special computational procedure for the constrained dynamics generation enables development of the reference dynamics for rigid and flexible system models such that vibration, allowable velocity profiles for robot joints and other programmed motion kinematic properties can be analyzed. This analysis enables planning feasible tasks for robots and design controllers for vibration compensation.
KeywordsKinematic constraints Reference dynamics Flexible systems
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