フレキシブルマニピュレータの軌道と形状の同時最適化

概要

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In this paper, we develop a new method of simultaneous optimization of trajectory and shape for flexible manipulators utilizing the B-spline function and a mathematical programming method. We adopt approximate flexible manipulator model which consists of rigid bar elements and spring elements. To determine trajectory, we approximate the joint angles by 4th degree B-spline function so that they can be 2-times continuously differentiable with respect to time. For shape optimization, we determine cross-sectional size of each link. The used total performance index basically consists of 2 performance indices. The first is the driving energy, and the second is the trajectory deviation which is caused by the modeling for the flexible manipulator. By searching optimum positions of the control points for B-spline approximation and optimum sizes of links which minimize the performance index i.e. to minimize both energy and deviation, we design optimal trajectory and optimal shape of flexible manipulators. Furthermore, consider work time which is one of the primary factors for cost, we optimize work time, trajectory and shape simultaneously. Some examinations through numerical examples show the effectiveness of the method.
一般社団法人日本機械学会の論文
1999-10-25