遺伝的アルゴリズムによる活線作業ロボットシステムのロボットベース制振に関する基礎実験

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  • Basic Experiments on Robot-Base Vibration Control of the Hot-Line Work Robot System using Genetic Algorithm
  • イデンテキ アルゴリズム ニヨル カッセン サギョウ ロボット システム ノ

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The past studies on hot-line robot systems have focused on the execution of various hot-line works such as the cutout/connection of electric wires and replacement of insulators. Robot base vibration control methods, however, have seldom been discussed(1)_??_(5). The high-speed operation of the hot-line work robot system, Phase II in tasks is being worked on with the goal of practical utilization in the near future. Speed increases in boom and manipulator movements are a key part of this. The Phase II system's boom has a natural frequency of 1.0Hz in commonly used angles. If the boom or the manipulator is rapidly accelerated, the robot base vibrates violently, hampering task execution.<br>This paper proposes a vibration control method, in which control gain and position command acceleration/ deceleration time are optimized for the movement of the robot base. In conjunction with the vibration control, the paper also focuses on the optimization for positioning accuracy and preventing overshoot of the manipulator. These three issues are simultaneously solved with use of genetic algorithm (GA). The proposed method has been determined for use in a preliminary experiment for the Phase II system development. A simplified test-bed manipulator of the two-axis horizontal scalar type was employed for simulation and experimentation in order to reduce modeling error. The initial effects brough about by the proposed method are verified.

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