ロボットマニピュレータを対象としたLMIによる動力学パラメータの大域的最適設計(機械力学,計測,自動制御)

概要

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In this paper we deal with a global optimal design of dynamic parameters of robot manipulators. The dynamic characteristic of robot manipulators is uniquely determined by base parameters, which are functions of physical parameters, e.g., the mass, the moment of inertia and the damping, etc. of each link, not by those physical parameters themselves. Using the fact that the equation of motion of manipulators generally becomes an affine function on base parameters we propose an LMI based optimal design method of base parameters of robot manipulators. We minimize the energy which is repuired to achieve a given task of manipulators. The proposed design method guarantees the global optimality of optimized base parameters. A design example is shown in the case of an optimal design of base parameters of a planar two-link manipulator which is controlled by computed torque method.
社団法人日本機械学会の論文
2007-10-25