In this work, a vibration suppression trajectory planning method for parallel SCARA robots considering link flexibility is presented. A MATLAB-ADAMS-ANSYS co-simulation model is built to characterize the robot elasto-dynamics and is used in trajectory planning for vibration prediction. A multi-objective optimization problem is formulated to minimize the position errors due to the elastic deformation and energy consumption, wherein the dynamically parameterized quintic non-uniform B-spline curve is selected to design the trajectory, to find the optimal trajectory parameters. A set of optimal solutions is selected and compared to the trajectories with different parameters to show the effectiveness of the optimized trajectory. Compared to the traditional parameterized spline vibration suppression trajectory, the proposed approach can significantly reduce the process vibration and residual vibration of the robot end-effector with respect to the spatial motion.
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