An Online Trajectory Planning Method of a Flexible-Link Manipulator Aiming at Vibration Suppression

Li, Yuanyuan; Ge, Shuzhi Sam; Wei, Qingping; Gan, Tao; Tao, Xiaolin

doi:10.1109/access.2020.3009526

Cited by 22 publications

(11 citation statements)

References 27 publications

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“…Giorgio and Vescovo [2019] (129) proposed an energy-based method to track the trajectory of a flexible manipulator taking care of end-effector vibrations. Currently, researchers are using particle swarm optimization algorithm for tuning of controllers for efficient trajectory tracking and vibration suppression simultaneously ( (130) , (131) , (132) , (133) ).…”

Section: Trajectory Control Of Flexible Manipulatorsmentioning

confidence: 99%

Dynamic Modelling and Control of Flexible Link Manipulators: Methods and Scope - Part 2

Mishra¹,

Singh²

2021

IJST

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Objectives: This paper addresses two key issues in the area of flexible robotics. The issues are vibration control of flexible links and trajectory control of flexible robots. A brief, yet, significant review is provided that addresses these two issues. Methods: For vibration control of flexible links, possibilities of the use of passive and active damping methods are explored in the literature. After that, the effect of proper trajectory planning to ensure positional accuracy at the end-effector is studied. Findings: After a review of 181 research papers from the year 1970 to 2021, it has been found that the vibration suppression of flexible links can be achieved through the application of viscoelastic materials, piezoelectric materials, and optimum trajectory planning. Recent trends in research in the area of flexible manipulators show that an optimal trajectory can significantly help in reduction of link vibrations and achievement of positional accuracy simultaneously. Novelty: The novelty of the present work lies in exploring the possible application of passive and active damping control methods for vibration suppression of flexible link manipulators. Besides that, the survey also highlights how well planned trajectory may help achieve accurate tip positioning of flexible robots.

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Section: Trajectory Control Of Flexible Manipulatorsmentioning

confidence: 99%

Dynamic Modelling and Control of Flexible Link Manipulators: Methods and Scope - Part 2

Mishra¹,

Singh²

2021

IJST

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“…Wu et al used a uniform aperiodic fourth-order B-spline curve to describe the trajectory of the manipulator, and conducted vibration suppression optimization for B-spline control points based on PSO [14]. Li et al used a polynomial function to describe the trajectory of the manipulator, and used PSO for the optimization of polynomial interpolation points to suppress vibration [19]. Yue et al and Kazem et al studied the trajectory planning of robots based on the genetic algorithm (GA) to optimize the time in motion [20,21].…”

Section: Introductionmentioning

confidence: 99%

Vibration Suppression Trajectory Planning of Underwater Flexible Manipulators Based on Incremental Kriging-Assisted Optimization Algorithm

Huang

Tang

Chen

et al. 2023

JMSE

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It is of great significance to expand the functions of submarines by carrying underwater manipulators with a large working space. To suppress the flexible vibration of underwater manipulators, an improved sparrow search algorithm (ISSA) combining an elite strategy and a sine algorithm is proposed for the trajectory planning of underwater flexible manipulators. In this method, the vibration evaluation function is established based on the precise dynamic model of the underwater flexible manipulator and considering complex motion and vibration constraints. Simulation results show that the ISSA algorithm requires only 1/3.68 of the time of PSO. Compared to PSO, SSA and the opposition-based learning sparrow search algorithm (OBLSSA), the optimization performance is improved by 17.3%, 13.1% and 9.7%, respectively. However, because the complex dynamics model of the underwater flexible manipulator leads to large computational effort and a long optimization time, ISSA is difficult to apply directly in practice. To obtain a large number of optimization results in a shorter time, an incremental Kriging-assisted ISSA (IKA-ISSA) is proposed in this paper. Simulation results show that IKA-ISSA has good nonlinear approximation ability and the optimization time is only 3% of that of the ISSA.

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“…Considering the existing energy-saving trajectory generation algorithm is complicated and difficult to be used in real-time industrial control, CHEN [13] proposed an energy-saving fast generation algorithm for trapezoidal trajectory which is widely used in industrial practice. Li [14] proposed a method be used for on-line planning of vibration suppression trajectory in the process of manipulator motion. Zhang [15] Han [16] and Wang [17] presented a new trajectory planning methodology for manipulators respectively.…”

Section: Introductionmentioning

confidence: 99%

“…It was inspired by the coordinated motion of swarmed animals like flying birds and swimming fishes [22]. For example, Li [14] used residual energy of vibration as an objective function, the optimizer based on Particle Swarm Optimization (PSO) intelligent search algorithm is employed to search the motion trajectory of the manipulator with the best vibration suppression effect. Han [23] proposed a particle swarm optimization (PSO) algorithm which can dynamically adjust learning factors to solve the problems of low efficiency and unstable operation of traditional industrial robots.…”

Section: Introductionmentioning

confidence: 99%

Vibration characteristics of flexible manipulator based on EVO trajectory effect by the constraints and parameters variation

Zhang¹,

Sun²,

Fu³

et al. 2022

J. vibroeng.

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This paper studies the vibration control effect for manipulators with both flexible link and flexible joint according to the energy-vibration-optimal (EVO) trajectory planning method effect by the constraint conditions and structure parameters. First, a dynamic model of the flexible joint-flexible link arm is established following the assumed modal method and Lagrange principle. The optimization model is then proposed and discretized using the Particle Swarm Optimization (PSO) trajectory planning method and the trajectory optimization of discrete result algorithm, taking into account both residual oscillation and energy consumption. Following that, the numerical trajectory optimization results and their vibration suppression effect analysis by different constraint conditions, such as driving constraints, time constraints, and joint stiffness, are compared and discussed. The results show that the optimization velocity trajectory tends to a S-shaped trajectory and a convex trajectory respectively with the increase of driving velocity constraint and acceleration constraint respectively, while the sufficient planning time can make the less energy consumption. The parameter variations of length, cross-sectional area and next link lumped mass of have a significant impact on the residual oscillation of the flexible arm, with length having the most influence, whereas joint stiffness has little influence on the residual oscillation of the flexible link. The processing accuracy of length, cross-sectional area and end quality parameters must be ensured, while joint stiffness accuracy requirements can be slightly relaxed during the actual processing. Finally, experiments show that the optimization method is effective at vibration suppression. While the small variations of the end mass have significant influence on the vibration suppression effect, the residual vibrations of the parameter variation ones are all larger than the original parameter one. Meanwhile, as the mass of the manipulator increases, so does its energy consumption.

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An Online Trajectory Planning Method of a Flexible-Link Manipulator Aiming at Vibration Suppression

Cited by 22 publications

References 27 publications

Dynamic Modelling and Control of Flexible Link Manipulators: Methods and Scope - Part 2

Dynamic Modelling and Control of Flexible Link Manipulators: Methods and Scope - Part 2

Vibration Suppression Trajectory Planning of Underwater Flexible Manipulators Based on Incremental Kriging-Assisted Optimization Algorithm

Vibration characteristics of flexible manipulator based on EVO trajectory effect by the constraints and parameters variation

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