Abstract:

How to improve the kinematic dexterity of flexible redundant manipulators is studied in this paper. Firstly, the relationship between the joint velocity and the kinematic dexterity of a manipulator is analyzed.Then, a method of improving the kinematic dexterity of flexible redundant manipulators is further studied using the second optimization capability of flexible redundant manipulators. Using the Taylor series expansion, vibration suppression can be changed equally from the acceleration level to the velocity level; thus suppressing vibration and improving the kinematic dexterity can be implemented simultaneously. And a method of improving the kinematic dexterity at the time of suppressing vibration is proposed. Finally,with this method, some simulations are carried out, and the results demonstrate its feasibility.

Key words: flexible redundant manipulat or s, kinematic dexterity, vibr ation suppression