On trajectory generation for flexible robots

Abstract

Abstract A trajectory based on a Gaussian velocity profile is presented as an alternative to the double square pulse acceleration profile. The new trajectory leads to the fast positioning of the tip of a flexible robot with a minimal excitation of high‐frequency modes. The torques necessary to move the robot according to this trajectory show a very smooth behavior. The absence of high‐frequency content, present when double square pulse accelerations are considered, eliminates the Occurrence of undesired residual vibrations produced by modeling uncemnties at high frequencies. The excellent results obtained suggest the use of this new trajectory for fast and precise positioning of flexible robots.