発見的手法を用いた多自由度マニピュレータの軌道決定 : 鋼板搬送用マニピュレータの動的トルク抑制の実現

概要

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This paper proposes a method to determine a trajectory with suppressed dynamic torque for a multi-DOF manipulator by a heuristic algorithm. Generally, optimization for a trajectory considering dynamic property of a multi-DOF manipulator is difficult since it has nonlinear and multi-peak characteristics. Although a lot of studies proposed the methods to optimize its trajectory, they often need complicated operation and calculation. Those methods are not always adapted to actual multi- DOF manipulators. Thus, a practical method using a heuristic algorithm that does not need complicated mathematical calculations is presented. In this paper, we aim to suppress required torques of the input joints of a manipulator in the solution. As a case study, we apply the method to an actual steel sheet handling manipulator over 1 500 kg in weighs with 5-DOF. From the experimental result, it is found to be effective to determine the trajectory with suppressed torques of the input joints for the manipulator maintaining the required working conditions.
2009-02-25