産業用ロボットの CP 制御における動力学モデルを用いない最適軌道生成

フォーマット:

論文

責任表示:

立矢, 宏 ; 伊谷, 英之 ; 林, 道大 ; 伊賀, 裕和 ; 樋口, 理宏

言語:

日本語

出版情報:

日本機械学会 = Japan Society of Mechanical Engineers, 2013-01-01

著者名:

• 立矢, 宏
• 伊谷, 英之
• 林, 道大
• 伊賀, 裕和
• 樋口, 理宏

掲載情報:

日本機械学會論文集. C編 = Transactions of the Japan Society of Mechanical Engineers. C

ISSN:

0387-5024      

巻:

79

通号:

805

開始ページ:

3075

終了ページ:

3087

バージョン:

author

概要:

This study proposes a method of generating the optimized trajectory, which determines change of the displacement of a robot with respect to time, to reduce electrical energy or the peak current value occurred in motors. Previously, a lot of studies tried to optimize the trajectory of a robot, needing its kinetic model to obtain the input torque or energy as the evaluation value. However, the construction of the kinetic model is considerably difficult, because it needs to … identify or to measure a lot of specifications of a robot. Thus, the present study proposes the method that obtains the evaluation value by measuring the currents, powers and so on of an actual robot in operation. Therefore, it does not need the analysis of the motion of a robot with the kinetic model. The proposed method optimizes the trajectories with a heuristic procedure by evaluating the measured values. In this study, we addressed the optimization method for continuous path controlled robots and applied it to a commercially available industrial manipulator, confirming that the generated trajectory can reduce electrical energy and the peak current value in a short time. © 2013 The Japan Society of Mechanical Engineers. 続きを見る

URL:

http://hdl.handle.net/2297/36261