べき級数を用いた簡便な軌道生成法の提案（機械システムの残留振動抑制への適用）

概要

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As described in this paper, we specifically examine a point-to-point (PTP) motion task of mechanical systems and present a simple trajectory generation method for suppressing the residual vibrations. In the proposed method, a PTP motion trajectory is generated by giving the output of a power series of time as the input of a cycloidal function. The generated trajectory depends on the coefficients of the power series. To cancel unwanted vibration, the coefficients are tuned by metaheuristic algorithms. The residual vibrations of mechanical systems can be suppressed by driving along the obtained trajectory, that is, the proposed vibration control method is a feedforward control technique. We deal with the PTP motion of an overhead crane with load hoisting, and demonstrate the effectiveness of the proposed method through numerical simulations. Furthermore, the proposed method is also applied to simultaneously minimize the residual vibration and the operating energy in a single-link flexible manipulator. The results obtained from this application consolidate the validity of our approach.