2A1-A15 Natural Motionを用いた軌道追従制御の有用性

概要

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Quite often the end link of a robotic limb is constrained to move along a prespecified path in workspace while the speed along the path may be freely chosen. For example, trapezoidal speed profiles are quite common in practice. Other alternatives include speed profiles for minimum-time path tracking and the recently proposed "natural motion". The aim of this work is to highlight the efficiency of natural-motion path tracking when compared to constant-speed path tracking. This is done first via simulations, with a six-DOF manipulator. From the results it becomes apparent that natural-motion path tracking outperforms constant-speed path tracking in terms of peak joint speed, peak joint torque and total mechanical power, ensuring thereby a higher average tracking speed. The results are also confirmed via experiments with a real PA-10 manipulator, with the third joint locked.
一般社団法人日本機械学会の論文