フレキシブルマニピュレータの残留振動抑制のための軌道生成法に関する研究

概要

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This paper presents the optimal trajectory planning for a single-link flexible manipulator to suppress residual vibration. The Lagrangian approach in conjunction with the assumed modes method is applied to derive the equation of motion of the manipulator. Parameters of the equation are obtained from an identification experiment by using a genetic algorithm. In the trajectory planning, we express the joint angle by cubic spline function, and then use a tabu search method to find the optimal trajectory. The optimal trajectory thus obtained has the minimum vibration requirement. The effectiveness of the proposed method is verified by comparing simulation results with experimental ones.
旭川工業高等専門学校の論文
2006-03-06