平均的発熱が制限となる運動機構の高速駆動に関する研究 : 第4報,関節間動的干渉効果が小さい機構の最短時間軌道計画

概要

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The objective of this study is to establish a generic method to solve the minimum-time trajectory planning problem of a manipulator under both the average heat generation restriction and the intermediate-state variable restriction. We have already proposed a numerical method for this problem assuming that all the motors generate their maximum value of the average heat in the minimum-time trajectory. However, this assumption Cannot always be satisfied, especially in manipulators with a small coupling effect among joint coordinates. To remove this assumption, we present a new trajectory planning method and its computing algorithm concerning the Kuhn-Tucker theorem. Applying this method to many trajectory planning problems for both a three-DOF cartesian manipulator and a three-DOF articulated manipulator, it is found that the proposed method is efficient in solving any trajectory planning problem of a manipulator with a small coupling effect among coordinates. The quasi-minimum-time trajectory planning method is also applied comparatively to some problems, and it is found that this method can provide the approximate minimum-time solution with greatly reduced computing time.
一般社団法人日本機械学会の論文
1994-04-25