駆動トルクに着目したフレキシブルマニピュレータの軌道計画(機械力学,計測,自動制御)

概要

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This paper proposes a new method for the trajectory planning of a flexible manipulator in a point-to-point motion. The Lagrangian approach in conjunction with the assumed modes method is applied to derive the governing equations for the manipulator, in which the axial displacement due to large bending deformation is considered. In order to obtain accurately the mathematical model, the coefficients of the obtained equations are identified by an experiment. In the trajectory planning, we express the desired joint angle by a cubic spline function, and then use a particle swarm optimization to minimize the joint driving torque. We show that the residual vibrations of the manipulator can be suppressed as a result of the minimum driving torque requirement. The effectiveness of the proposed method is verified by experiments.
一般社団法人日本機械学会の論文
2008-09-25