318 救護ロボットアームの本数、長さ、軌道の同時最適化 : 第 2 報 : ハイブリッド技法による可変長アームと固定長アームの比較

概要

論文の詳細を見る
In this paper, we deal with trajectory optimization for a robot arms with variable-length arms using evolutionary computation (EC). We formuate a trajectory optimization problem, assuming robot arms with variable sliding beams. The purpose of this problem is to reduce a distance and a moving time for a target point to be gripping. Infinite trajectories of robot arms from an initial state to a target point exist. It is a difficult problem to find the best trajectory in these trajectories. We propose an algorithm based on the genetic algorithm (GA) for the trajectory optimization problem of robot arms. Also we propose a hybrid method of GA and simulated annealing (SA). Finally, we show effectiveness of the latter method based on numerical simulations.
社団法人日本機械学会の論文
2000-09-01