遺伝的アルゴリズムを用いたCP制御フレキシブルロボットアームの軌道計画(機械力学,計測,自動制御)

概要

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This study is concerned with the trajectory planning method of a CP control flexible robot arm by using a genetic algorithm. The flexible robot arm consists of a first rigid link and a second flexible link, and the desired trajectory is set to be a straight line. In the trajectory planning, the reference trajectory, as if the flexural displacement of the second flexible link is zero, is expressed by use of a cubic spline function, and the velocity profile in the direction of the desired trajectory is depicted using two fifth-order polynomial functions. The individual chromosome of the genetic algorithm is composed using the parameters of the cubic spline function and the fifth-order polynomial functions as the genes. Then, the fitness function of the individual chromosome for the residual vibration reduction and the trajectory tracking control is defined, and the trajectory planning algorithm is constructed using the genetic algorithm. Furthermore, the numerical calculations have been carried out, and it is confirmed that the residual vibrations can be remarkably reduced, and the trajectory error from the desired trajectory can be considerably reduced.
一般社団法人日本機械学会の論文
2002-06-25