Minimizing joint-torques of the flexible redundant manipulator on the premise of vibration suppression

Purpose – The purpose of this paper is to examine a new idea of vibration control which minimizes joint-torques and suppresses vibration of the flexible redundant manipulator. Design/methodology/approach – Using the kinematics redundancy feature of the flexible redundant manipulator, the self-motion in the joint space can be properly chosen to both suppress vibration and minimize joint-torques. Findings – The study shows that the flexible redundant manipulator still has the second optimization feature on the premise of vibration suppression. The second optimization feature can be used to minimize joint-torques on the premise of vibration suppression. Research limitations/implications – To a flexible redundant manipulator, its joint-torques and vibration can be reduced simultaneously via its kinematics redundancy feature. Practical implications – The method and algorithm discussed in the paper can be used to minimize joint-torques and suppress vibration for the flexible redundant manipulator. Originality/value – The paper contributes to the study on improving dynamic performance of the flexible redundant manipulator via its kinematics redundancy feature. The second optimization capability of the flexible redundant manipulator is discovered and used to both minimize joint-torques and suppress vibration.