Trajectory Planning of CP Control Two-Link Flexible Robot Arm Using Genetic Algorithm
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概要
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In this study, a trajectory planning method of a CP control twp-link flexible robot arm by using the genetic algorithm is proposed. 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. The numerical calculations have been carried out, and it is confirmed that the residual vibrations almost disappear, and the trajectory error can be considerably reduced.
- 一般社団法人日本機械学会の論文
著者
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KOJIMA Hiroyuki
Department of Pediatrics, Chiba University School of Medicine
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Kojima Hisae
Laboratory Of Biochemistry Department Of Biological Mechanisms And Functions Graduate School Of Bioa
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Kojima Hisae
Lab. Biochem. Grad. School Of Bioagr. Sci. Nagoya Univ.
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Kojima H
Special Division For Green Life Technology National Institute Of Advanced Industrial Science And Tec
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Kojima Hiroyuki
Department Of Environmental Systems Engineering Faculty Of Engineering Kochi University Of Technology
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Kojima Hiroyuki
Department of Chemistry, Faculty of Science, The University of Tokyo
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