THE JOINT TRAJECTORY PLANNING OF TWO COORDINATING REDUNDANT ROBOTS WITH JOINT ELASTICITY

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.