経由点と遺伝的アルゴリズムを用いた電磁吸着搬送2関節ロボットアームの準最短時間軌道計画と実験(機械力学,計測,自動制御)

概要

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In this study, the quasi-minimum time trajectory planning method of an electromagnetic attraction transfer two-link robot arm using two via points and the genetic algorithm. The electromagnetic attraction transfer work is executed by use of an electromagnetic attraction hand attached to the end of the two-link robot arm. In the quasi-minimum time trajectory planning, the trajectory polynomial expressions using two via points are derived by using the boundary and continuous conditions of joint angle, joint angle velocity and joint angle acceleration, and the trajectory is expressed using three genes. Then, using three genes and the genetic algorithm and defining the fitness function for the quasi-minimum time trajectory, the quasi-minimum time trajectory planning algorithm is constructed. Furthermore, the numerical calculations and the experiments are demonstrated, and the usefulness of the present quasi-minimum time trajectory planning method is confirmed.
2009-07-25