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

Natalia Varminska (1) , Damien Chablat (2)

1 Sevastopol State University
2 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

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.

Mots clés: Motion planning; Oscillations; Parallel robot; Orthoglide

Domaines: Robotique [cs.RO]

Natalia Varminska, Damien Chablat. Optimal Motion of Flexible Objects with Oscillations Elimination at the Final Point. New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, Springer, Cham, pp.281-291, 2016, 978-3-319-44155-9. ⟨10.1007/978-3-319-44156-6_29⟩. ⟨hal-01327787⟩