351 多目的最適化によるフレキシブルマニピュレータの省エネルギー軌道計画(アクチュエータ,軌道計画,OS-16 運動と振動の制御,総合テーマ「伝統を,未来へ!」)

概要

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This paper presents a trajectory planning method for saving the operating energy of a flexible manipulator in point-to-point (PTP) motion. An artificial neural network (ANN) is employed to generate the desired joint angle, and then a vector evaluated particle swarm optimization (VEPSO) is used as the learning algorithm. The maximum residual vibration amplitude and the operating energy are adopted as the multi-objective functions of VEPSO algorithm. By operating the manipulator along the trajectory obtained by the proposed method, the residual vibrations can be suppressed in the saving energy. Furthermore, the effectiveness of the proposed method is confirmed by comparison with the previous method which is used cubic spline interpolation. The feasibility of the proposed trajectory planning method is verified by both numerical simulation and experimental results.
2010-09-14