駆動トルクに着目したフレキシブルマニピュレータの軌道計画  [in Japanese] Trajectory Panning of a Flexible Manipulator Based on Driving Torque  [in Japanese]

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Author(s)

    • 阿部 晶 ABE Akira
    • 旭川工業高等専門学校制御情報工学科 Information Systems Engineering, Asahikawa National College of Technology

Abstract

This paper proposes a new method for the trajectory planning of a flexible manipulator in a point-to-point motion. The Lagrangian approach in conjunction with the assumed modes method is applied to derive the governing equations for the manipulator, in which the axial displacement due to large bending deformation is considered. In order to obtain accurately the mathematical model, the coefficients of the obtained equations are identified by an experiment. In the trajectory planning, we express the desired joint angle by a cubic spline function, and then use a particle swarm optimization to minimize the joint driving torque. We show that the residual vibrations of the manipulator can be suppressed as a result of the minimum driving torque requirement. The effectiveness of the proposed method is verified by experiments.

Journal

  • Transactions of the Japan Society of Mechanical Engineers C

    Transactions of the Japan Society of Mechanical Engineers C 74(745), 2246-2253, 2008-09-25

    The Japan Society of Mechanical Engineers

References:  20

Cited by:  1

Codes

  • NII Article ID (NAID)
    110006950860
  • NII NACSIS-CAT ID (NCID)
    AN00187463
  • Text Lang
    JPN
  • Article Type
    Journal Article
  • ISSN
    03875024
  • NDL Article ID
    9664242
  • NDL Source Classification
    ZN11(科学技術--機械工学・工業)
  • NDL Call No.
    Z16-1056
  • Data Source
    CJP  CJPref  NDL  NII-ELS 
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