2C33 Motion Control and Optimization of a Ball Throwing Robot with a Flexible Arm(The 12th International Conference on Motion and Vibration Control)

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著者

    • GAI Yizhi
    • Division of Human Mechanical Systems and Design, Graduated School of Engineering, Hokkaido University
    • KOBAYASHI Yukinori
    • Division of Human Mechanical Systems and Design, Graduated School of Engineering, Hokkaido University
    • EMARU Takanori
    • Division of Human Mechanical Systems and Design, Graduated School of Engineering, Hokkaido University

抄録

Motion control of flexible arms is more difficult than that of rigid arms. However utilizing its dynamics enables improved performance such as a fast motion in short operation time. This paper investigates a ball throwing robot with one flexible link. This robot throws a ball at a set speed. A mathematical model of this ball throwing robot is derived through Hamilton's principle. The sinusoidal patterns of torque input and structure are designed through the proposed simulation models. The parameters of each torque input pattern and flexible structure are optimized and determined by chaos embedded vector evaluated particle swarm optimization (CEVEPSO). Finally, the residual vibration of the manipulator after throwing is suppressed with input shaping technique.

収録刊行物

  • 「運動と振動の制御」シンポジウム講演論文集

    「運動と振動の制御」シンポジウム講演論文集 2014(12), "2C33-1"-"2C33-12", 2014-08-03

    一般社団法人日本機械学会

各種コード

  • NII論文ID(NAID)
    110009976597
  • NII書誌ID(NCID)
    AA11902241
  • 本文言語コード
    ENG
  • データ提供元
    NII-ELS 
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