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ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2004, Vol. 25 ›› Issue (2): 187-191.
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GAO Zhi-hui, YUN Chao, BIAN Yu-shu
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Abstract: A method for improving the frequency property of flexible redundant manipulator is studied. Firstly, the factors which influence the natural frequencies of a flexible manipulator are analyzed and a conclusion is drawn. The conclusion is that the natural frequencies of a flexible manipulator can be increased through adjusting some joint kinematic parameters (e.g., joint-angle and joint-velocity) properly while its structural parameters remain unchanged. Then, the relationship between a flexible redundant manipulator's self-motions and its joint kinematic parameters is studied. On this basis, a method to adjust a flexible redundant manipulator's joint kinematic parameters by planning its self-motions properly is proposed. The natural frequencies of a flexible redundant manipulator can be increased by this method while its end-effector's nominal motion remains unchanged. And this method can be used for avoiding dynamic singularity and enhancing dynamic performance of a flexible redundant manipulator. Furthermore, the corresponding algorithm is suggested. Finally, by carrying out some simulations, the method is verified to be feasible.
Key words: flexible redundant manipulator, natural frequency, joint kinematic parameter, dynamic singularity
GAO Zhi-hui;YUN Chao;BIAN Yu-shu. Study on Improvement for Frequency Property of Flexible Redundant Manipulator[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2004, 25(2): 187-191.
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https://hkxb.buaa.edu.cn/EN/Y2004/V25/I2/187