Trajectory Planning for Suppression Residual Vibration at the Large-Scale Flexible Hydraulic Manipulator

Faced with aerial and complex environment scenarios, a large-scale flexible hydraulic manipulator(FHM), like the concrete pump truck, can quickly and efficiently perform important tasks such as conveying and pouring of construction materials. Since the light weight of the large-scale flexible hydraulic manipulator and the compressible nature of the hydraulic fluid, the dual-flexibility characteristic causes the system to be difficult to operate stability. this thesis proposes a trajectory planning based on optimal residual vibration energy. The displacement deviation of the characteristic points of the predetermined polynomial trajectory is the optimization variable, and the residual vibration characterized by the dynamical model of the system is the optimization objective. And the constraints of the system at the motion level are imposed, and the residual vibration suppression of the system is achieved by the genetic algorithm for the trajectory feature points to find the best. The experimental results show that the trajectory planning proposed in this paper can effectively suppress the residual vibration at the end of the large-scale flexible hydraulic manipulator and improve the stability of the system in construction operations.