ロボットのCP制御の高速化に関する研究

概要

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This paper deals with the high-speed CP motion of a robot. When actuating robots at high speed, non-linear forces, such as inertia force, Coriolis force, centrifugal force, must be taken into consideration. And the driving torques to compensate such non-linear forces are desired to be smooth and small. As the result of the simulation of path planning by some typical spline functions, it has been proved that the best path planning method is to produce the trajectory of a joint whose torque or angle is exceptionally large, by 3rd order polynomial, and to produce the trajectories of other joints in relation to the studied joint. Next, to test the actual effect of this method, an experiment of dynamic control was carried out. The experiment proved this path planning method to be suitable for the high-speed CP motion.
公益社団法人精密工学会の論文
1985-02-05