Design of an optimal trajectory control system for flexible robot arms and simultaneous optimization of trajectory control and structural systems

In this study, a method to develop an optimal trajectory for flexible robot arms is first presented for a given specific path of the arms. The optimal trajectory is so determined that the torques of the motors are to be fully used, and the time to reach the prescribed position (called the "work time") is to be minimized. Then a simultaneous optimization method of trajectory control and structural systems is developed, by utilizing the method examined. The lengths of the arms and the trajectory are taken as design variables in numerical examples. Both optimum lengths and the trajectory are searched for simultaneously by the proposed method, and examined.