Description:
Abstract For the purpose of eliminating residual vibration of a two-link flexible manipulator as well as minimizing time consumption, a scheme of multi-objective trajectory planning in joint space is proposed in this paper. Piecewise polynomial is applied to generate a smooth joint trajectory. Lagrangian approach and the assumed modes method is used to derive motion equations of FMs. Finally, Multi-objective particle swarm optimization (MOPSO) algorithm is implemented to solve time of each polynomial. The effectiveness of proposed algorithm is demonstrated by simulation results.