Abstract：In this article, the problem of joint trajectory planning in the coordinated manipulation of redundant robots with joint elasticityis researched. Two optimal schemes, i. e., minimum torque method andminimum deflection method, are proposed.Simulation analyses for two planar 3R redundant robots with joint elasticity handling a single object are also made by using these methods.
1Berger R M, Elemaraghy H A. Feedback Linearization Control of Flexible Joint Robots, Robotics & Computer-Integrated Manufacturing,1993, 9:239-246 2 Pfeffer L E, Khatib O,Hake J. Joint Torque Sensory Feedback in the Control of a PUMA Manipulator. IEEE Journal of Robotics Automation, 1989, RA-5:418-425 3 赵 京, 白师贤. 冗余度分解对冗余度机器人关节弹性变形的影响. 机器人, 1998, 20(1):37-43 4 Luh J Y S, Zheng Y F. Constrained Relations between Two Coordinated Industrial Robots for Motion Control. Int J Robotics Research, 1987, 6(3):60-70 5 Cheng F Tetal.Control and Simulation for a Closed Chain Dual Redundant Manipulator System.Journal of Robotics Systems,1991, 12(2):119-133 6Zhao Jing, Bai Shi Xian. Load Distribution and Joint Trajectory Planning of Coordinated Manipu lation for Two Redundant Robots, M echanism and Machine Theory (已被录用) 7Jankowski K Petal. Inverse Dynamics Control of Multiple Robot Arms with Flexible Joints. IEEE Int Confon Roboticsand Automation, 1993:996-1003