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Optimal Motion of Flexible Objects with Oscillations Elimination at the Final Point

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New Trends in Mechanism and Machine Science

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 43))

Abstract

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.

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Acknowledgments

The work presented in this paper was partially funded by the Erasmus Mundus project “Active”. Both authors also thank A. Jubien, E. Besnier and P. Lemoine for their technical assistance during the experiments.

Author information

Authors and Affiliations

  1. Sevastopol State University, Sevastopol, Russia

    Natalia Varminska

  2. IRCCyN, CNRS, Nantes, France

    Damien Chablat

Authors
  1. Natalia Varminska
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  2. Damien Chablat
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Corresponding author

Correspondence to Damien Chablat .

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Editors and Affiliations

  1. Ecole Centrale de Nantes 1, CNRS, Ecole Centrale de Nantes 1, Nantes , France

    Philippe Wenger

  2. 3001367002, University of Minho, Guimaraes, Portugal

    Paulo Flores

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Varminska, N., Chablat, D. (2017). Optimal Motion of Flexible Objects with Oscillations Elimination at the Final Point. In: Wenger, P., Flores, P. (eds) New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol 43. Springer, Cham. https://doi.org/10.1007/978-3-319-44156-6_29

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  • DOI: https://doi.org/10.1007/978-3-319-44156-6_29

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-44155-9

  • Online ISBN: 978-3-319-44156-6

  • eBook Packages: EngineeringEngineering (R0)

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