Research on Vibration Suppression of Manipulator Based on Trajectory Planning Method
This improves the accuracy of controlling the motion of the manipulator and suppresses elastic vibrations caused by the flexible elements of the joint.Using the Stäubli TX40 manipulator as the test ob-ject,we propose a path planning method to reduce vibrations by considering the flexibility of the manipula-tor joints.Based on the flexible joint model,a system differential equation considering the influence of the elastic deformation of the flexible joint on trajectory planning is constructed,and an objective function to suppress the elastic vibration of the joint is defined.Calculated using the augmented particle swarm optimi-zation algorithm(GAPSO).After optimization,we get the final trajectory.The results show that by optimi-zing the GAPSO algorithm,the variability of the rail tip displacement is significantly reduced,the rail curve is smoother,and the oscillation of the spring tip is significantly reduced.Compared with the basic particle swarm optimization algorithm,the GAPSO algorithm provides population diversity,avoids the problem that the objective function is subject to local optimism,and has a higher convergence speed.
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