Optimal point-To-point motion planning of flexible parallel manipulator with multi-interval Radau pseudospectral method

Optimal point-To-point motion planning of flexible parallel manipulator was investigated in this paper and the 3RRR parallel manipulator is taken as the object. First, an optimal point-To-point motion planning problem was constructed with the consideration of the rigid-flexible coupling dynamic model and actuator dynamics. Then, the multi-interval Legendre-Gauss-Radau (LGR) pseudospectral method was introduced to transform the optimal control problem into Nonlinear Programming (NLP) problem. At last, the simulation and experiment were carried out on the flexible parallel manipulator. Compared with the line motion of quantic polynomial planning, the proposed method could constrain the flexible displacement amplitude and suppress the residue vibration.