Realtime Motion Planning for Link Elastic Light Weight Robot Arms

Elastic arm bodies increase the safety of persons in the work area, but also cause unwanted vibrations during normal operation of the robot.
The latter are usually compensated by controllers for vibration damping.
Depending on the kinematics of the robot, however, there are configurations in which vibration damping is impaired or not feasible.
Our new approach uses a metric for motion planning that takes into account the vibration damping capability of the controllers.
The resulting trajectories successfully increase the effectiveness of vibration damping control interventions, resulting in more effective damping.