In this article, a theoretical justification of one type of skew-symmetric optimal translational motion (moving in the minimal acceptable time) of a flexible object carried by a robot from its initial to its final position of absolute quiescence with the exception of the oscillations at the end of the motion is presented. The Hamilton-Ostrogradsky principle is used as a criterion for searching an optimal control. The data of experimental verification of the control are presented using the Orthoglide robot for translational motions and several masses were attached to a flexible beam.
CITATION STYLE
Varminska, N., & Chablat, D. (2017). Optimal motion of flexible objects with oscillations elimination at the final point. In Mechanisms and Machine Science (Vol. 43, pp. 281–291). Kluwer Academic Publishers. https://doi.org/10.1007/978-3-319-44156-6_29
Mendeley helps you to discover research relevant for your work.