201 ロボットマニピュレータの振動低減を目的とした最適軌道生成法(一般 : 制振)

概要

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This paper describes the method of optimum trajectory planning for robot manipulators in order to reduce the vibration caused by the flexibility of reduction gears during operation. For the vibration control of robot manipulators, the various vibration control techniques are examined and applied. However, by means of optimizing the trajectories, the vibration is able to be reduced without using the vibration control techniques. In the proposed method, an arbitrary performance function can be formulated independently of mechanism and degrees of freedom of robot manipulators, and it is easy to consider the constraints such as the upper limit of the output torque of actuators and the collision with obstacles. The simulation results clearly verify that the vibration of the robot manipulator is fully reduced by only the local feedback control of the servomotor.
社団法人日本機械学会の論文
2001-06-05