Study Of Motion Planning Of Flexible Cooperative Robots

Robotics is an advanced subject involving electronics, computer science, control theory, sensor technology, mechanical engineering, bionics, artificial intelligence and so on. The cooperation of flexible manipulators is one of the most important topics in the robotics research. So far the research is mainly on the dynamic modeling and numerical simulation of flexible coordinated manipulators. The study of the motion planning of flexible coordinated manipulators is very little. In this thesis, the motion planning of two flexible planar cooperative robots has been studied for the first time. Firstly, a point-to-point motion planning of the cooperation of flexible manipulators is presented. The method of motion planning is put forward to increase the position accuracy of the operated object by joint motion compensation. According to the different number of the planned joints, six motion planning instances are presented, and the numerical simulations are given and analyzed in each case.Then, a continuous track motion planning of the cooperation of flexible manipulators is discussed. According to the characteristics of the continuous track motion planning, three methods of motion planning are proposed. The first one is to divide the motion time into four segments. The cubic polynomial is used in the second one for the stabilization of robot motion. The third one is to divide the motion time into three segments with the quintic polynomial transition segments. The numerical results show the merit and shortcoming of each one. The perfect planning scheme is summarized in the end...