A New Method for Self-motion Planning of Flexible Redundant Manipulators
英文摘要
How to decrease the end-point error of flexible manipulators is a significant problem, a new method for the self-motion planning of flexible redundant manipulators is put forward in this paper, the end-point error of a flexible spatial manipulator is decreased by means of optimizing its self-motion while tracking the prescribed trajectory. The numerical simulation of a 4R spatial manipulator shows that the method is effective and reasonable.
