非駆動ジョイントをもつマニピュレータの投げる動作における省エネルギー軌道

• 佐藤 治

  宮崎大学工学部

• 佐藤 浅次

  都城工業高等専門学校

• 高橋 伸弥

  宮崎大学工学部

• 河野 通夫

  宮崎大学工学部

書誌事項

タイトル別名

• Trajectory for saving energy of a Manipulator with Passive Joint in Throwing Motion
• ヒクドウ ジョイント オ モツ マニピュレータ ノ ナゲル ドウサ ニ オケル ショウエネルギー キドウ

抄録

For the purpose of enlarging the work space of manipulator, this study proposes the trajectories for saving energy about throwing motion. In this paper, equations of motion of a manipulator, whose mechanism has two actuated joints and a passive revolute joint for a tray, are derived in consideration of characteristics of driving source. In order to prevent the object falling from the tray, the passive joint for the tray is rotated by inertia force about actuated joints. Considering the condition about motion of the tray, trajectories for saving energy of two actuated joints are calculated by iterative dynamic programming. Initial searching region of dynamic programming is a shape which is surrounded by two cosine-wave translated in parallel. This proposed searching region is used as an initial range of the iteration method, and the region is shifted to minimize the energy consumption of the motor. The dynamic characteristics of manipulator controlled based on above mentioned trajectory are analyzed theoretically and investigated experimentally.

収録刊行物

• 精密工学会誌

  精密工学会誌 74 (8), 859-864, 2008

  公益社団法人 精密工学会

キーワード

• direct-drive-manipulator
• trajectory
• dynamic-programming
• dc-motor
• minimum-energy
• throwing motion

詳細情報

• CRID: 1390001204797120512
• NII論文ID: 110006865146
• NII書誌ID: AN1003250X
• DOI: 10.2493/jjspe.74.859
• ISSN: 1882675X
• ISSN: 09120289
• HANDLE: 10458/2907
• NDL書誌ID: 9611476
• Web Site: https://miyazaki-u.repo.nii.ac.jp/records/1072
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I9611476
• データソース種別:
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  • IRDB
  • NDL
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• 抄録ライセンスフラグ: 使用不可