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Communication Dans Un Congrès Année : 2010

Shaking Forces Minimization of High-Speed Robots via an Optimal Motion Planning

Résumé

This paper deals with the problem of shaking force balancing of high-speed robots based on a new optimal trajectory planning approach. The aim of the new approach is the optimal path planning of the robot links centre of masses, which allows a considerable reduction of the variable inertia forces transmitted to the robot frame. The efficiency of the suggested method is illustrated by a numerical simulation of a planar two links 2R serial robot, in which reductions in the shaking force of 63 % and in input torque of 84 % are achieved.
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Dates et versions

hal-00460090 , version 1 (25-06-2019)

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Sébastien Briot, Vigen Arakelian, Nayelli Sauvestre, Jean-Paul Le Baron. Shaking Forces Minimization of High-Speed Robots via an Optimal Motion Planning. 18th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control (ROMANSY 2010), Jul 2010, Udine, Italy. pp.307-314, ⟨10.1007/978-3-7091-0277-0_36⟩. ⟨hal-00460090⟩
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