関節型ロボットアームの高速化のための運動制御 間欠運動の高速化に関する研究

Abstract

This paper deals with the motion control of a manipulator or an industrial robot arm. Generally speaking, manipulators or industrial robot arms that are constructed by the open-loop articulated kinematic chains are non-linear dynamic systems and the motion equation is described by the coupling dynamic systems between the connecting chains. So it is not easy to control a manipulator or a robot arm for positioning to the desired place at high speed. In this study, for the high speed motion of a robot arm, we tried to adapt the minimum time control to the motion of robot arm that has two articulated kinematic chains, and found the optimal path to move the robot arm from the initial configulation to the final configulation. This optimal path is very similar to the figure of which we move our own arms. And we showed the way to solve the near-minimum-time control for the multi-input and non-linear dynamic system like a robot arm that is constructed by the open-loop articulated kinematic chains.