Optimal Motion of Flexible Objects with Oscillations Elimination at the Final Point
This addresses a domain-specific issue in robotics for precise motion control, but appears incremental as it builds on existing principles like the Hamilton-Ostrogradsky principle.
The paper tackled the problem of moving a flexible object with a robot to eliminate oscillations at the final point, achieving minimal acceptable time and absolute quiescence at the end, as verified experimentally using an Orthoglide robot and a flexible beam with attached masses.
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.