325 1リンクフレキシブルマニピュレータの最適軌道に関する一考察

概要

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This paper presents the optimal trajectory planning for a one-link flexible manipulator to suppress the residual vibration. In the trajectory planning, we express the joint angle by cubic spline function, and then use genetic algorithm to find an optimal trajectory. The optimal trajectory thus obtained has minimum vibration requirement. The manipulator is modeled by considering axial inertia, nonlinear curvature and inextensibility condition. The Lagrangian approach in conjunction with the assumed modes method is applied to obtain the equation of motion of the manipulator that is used in the trajectory planning. In the numerical calculation, we verify the effectiveness of the trajectory planning and investigate the effect of nonlinear curvature on the dynamics.
一般社団法人日本機械学会の論文
2003-09-16