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arXiv · 1606.02451

Optimal Motion of Flexible Objects with Oscillations Elimination at the Final Point

Natalia Varminska·Damien Chablat
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Abstract

In this article, a theoretical justification of one type of skew-symmetric optimal translational motion (moving in the minimal acceptable time) of a flexible object carried by a robot from its initial to its final position of absolute quiescence with the exception of the oscillations at the end of the motion is presented. The Hamilton-Ostrogradsky principle is used as a criterion for searching an optimal control. The data of experimental verification of the control are presented using the Orthoglide robot for translational motions and several masses were attached to a flexible beam.

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Natalia Varminska, Damien Chablat. 2016-06-08. Optimal Motion of Flexible Objects with Oscillations Elimination at the Final Point. https://arxiv.org/abs/1606.02451

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