弹性并联机器人输入运动规划

Input Motion Programming of Flexible Planar paralled Manipulators

本文研究了弹性并联机器人的输入运动规划方法。本方法以机器人平台的输出运动误差为目标，规划机器人的输入运动。数值例结果表明，这种规划方法可以显著降低机器人输出运动误差。

This paper studies the input motion programming method of flexible planar parallel manipulators. An input motion programming method, which aims at reducing the motion errors of the plate, is put forward. Results of the numerical example indicate that the output motion errors can be significantly reduced by this programming method.