B17 ロボットマニピュレータの機構・動力学パラメータと制御系の同時設計(OS12-1 同時最適化)

概要

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In this paper we deal with a simultaneous optimal design problem of mechanical/dynamical parameters and a control system for robot manipulators. The mechanical parameters are evaluated from an index of manipulability based on Jacobian matrix of the robot manipulators. We propose an LMI based optimization method for the mechanism of the manipulators whose Jacobian matrix becomes an affine function on the length of each link. Dynamical parameters are evaluated by a closed-loop performance controlled by a gain-scheduled controller. We propose a new simultaneous optimal design method of mechanical/dynamical parameters and gain-scheduled controller using a numerical design algorithm of an iterative LMI approximation.
社団法人日本機械学会の論文
2005-08-22