caa a22 4500 445361360 CHVBK 20180317142916.0 cr unu---uuuuu 170323e20110901xx s 000 0 eng 10.1007/s11071-010-9897-x doi (NATIONALLICENCE)springer-10.1007/s11071-010-9897-x Study on vibration reduction and mobility improvement forthe flexible manipulator via redundancy resolution [Elektronische Daten] [Yushu Bian, Zhihui Gao, Chao Yun] The flexible redundant manipulator, i.e., the flexible manipulator with redundant rigid degrees of freedom, possesses the same kinematic redundancy property as the rigid redundant manipulator. Some undesired effects on the flexible redundant manipulator are expected to alleviate via kinematic redundancy. Due to the presence of structural flexibility, a manipulator will inevitably vibrate when performing tasks. Therefore, how to reduce its vibration responses is a significant problem. Moreover, the manipulator's mobility, i.e., its ability to move, is another important issue, because good mobility is a desirable goal for almost all robotic manipulator systems. In this paper, how to reduce vibration and improve mobility is studied for the flexible redundant manipulator. Firstly, a method for vibration control via redundancy resolution is put forward. Secondly, the self-motions satisfying vibration reduction are analyzed, and its additional optimization ability is revealed. Based on this ability, a strategy is proposed to both reduce vibration and improve mobility for the flexible redundant manipulator. Finally, simulation results demonstrate the effectiveness of this strategy. Springer Science+Business Media B.V., 2010 Flexible manipulator nationallicence Vibration nationallicence Mobility nationallicence Redundancy nationallicence Bian Yushu School of Mechanical Engineering and Automation, Beihang University, 100191, Beijing, China aut Gao Zhihui School of Mechanical Engineering and Automation, Beihang University, 100191, Beijing, China aut Yun Chao School of Mechanical Engineering and Automation, Beihang University, 100191, Beijing, China aut Nonlinear Dynamics Springer Netherlands 65/4(2011-09-01), 359-368 0924-090X 65:4<359 2011 65 11071 https://doi.org/10.1007/s11071-010-9897-x text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s11071-010-9897-x text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Bian Yushu School of Mechanical Engineering and Automation, Beihang University, 100191, Beijing, China aut NATIONALLICENCE 700 1- Gao Zhihui School of Mechanical Engineering and Automation, Beihang University, 100191, Beijing, China aut NATIONALLICENCE 700 1- Yun Chao School of Mechanical Engineering and Automation, Beihang University, 100191, Beijing, China aut NATIONALLICENCE 773 0- Nonlinear Dynamics Springer Netherlands 65/4(2011-09-01), 359-368 0924-090X 65:4<359 2011 65 11071 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer