Path Planning And Motion Control Of Vibration Reduction Of Three-dimensional Space Manipulator

The researchs of manipulator mainly including kinematics anddynamics,path planning of obstacle avoidance and motion control ofvibration reduction of flexible manipulator are always the importantcontent of robotic arm kinematics and dynamics.This paper is studyingfrom the two aspects.This paper’s path planning research is based on the SCARA robot.Selecting C-space as planning space after analysis of the characteristics ofrobotic arm. Whether obstacles interfere with the two rotating linksdecided by obstacle’s height, so establishing obstacle to two cases,whichare whole interference and half interference. Considering the position ofend of actuator in vertical direction is determined only by vertical liftjoint,the plane C-space can be established firstly. For thethree-dimensional space,C-space can be established by stretching planeobstacle C-space in the third dimension.Rasterizing the whole C-space after C-space obstacle is established.Searching for the path by A*algorithm and ACO,then comparingthem.After path planning,simulation of obstacle avoidance is imitated byAdams and the result show the accuracy of the path. Then,according tothe experience of RBT-4S01S robot,the accuracy and feasibility of thepath is verified further.Above is based on the shortest remaining time kinematic pathplanning, the less time means the fast velocity,it will result in vibration ofmanipulator,this is the problem of vibration reduction of flexiblemanipulator.This paper presents a trajectory planning strategy for thepurpose to suppress residual vibration. The kinetic equations of system isestablished by Lagrange equations and assumed mode method. The sizeof the residual vibration is mainly decided by the first mode,so the fistmode equation can be isolated and linearized. According to initial andterminal conditions of vibration of link endpoint，vibration trajectory canbe designed segmentally,then the trajectory of link can be got by kineticequations. Numerical simulation verified this method’s accuracy. Above is actually based on the vibration suppression control studies of roboticarm, and is further optimization of the trajectory.This paper’s path planning studies can provide theoretical basis forthe industry application of SCARA robot and improve the workefficiency,furthermore,it lays the foundation for the more complicatedpath planning problems. The research of vibration damping of flexiblearm can improve dynamic performance of robot arm and createconditions for more light and faster manipulator’s application.