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Method for determining the power-saved driving motion of manipulators by heuristic algorithms (In case of CP control)
http://hdl.handle.net/2297/36305
http://hdl.handle.net/2297/36305f66f182a-ce48-44a3-baca-6963b666ac8b
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
LE-PR-Hiroshi TACHIYA-H-determining.pdf (456.4 kB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||||||
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| 公開日 | 2017-10-03 | |||||||||
| タイトル | ||||||||||
| タイトル | Method for determining the power-saved driving motion of manipulators by heuristic algorithms (In case of CP control) | |||||||||
| 言語 | ||||||||||
| 言語 | eng | |||||||||
| 資源タイプ | ||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||
| 資源タイプ | journal article | |||||||||
| 著者 |
Hayashi, Michihiro
× Hayashi, Michihiro× Tachiya, Hiroshi× Asakawa, Naoki× Matsubara, Yutaka |
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| 著者別表示 |
立矢, 宏
× 立矢, 宏
× 浅川, 直紀
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| 書誌情報 |
LEM 2007 - 4th International Conference on Leading Edge Manufacturing in 21st Century, Proceedings 発行日 2007-11-07 |
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| DOI | ||||||||||
| 関連タイプ | isVersionOf | |||||||||
| 識別子タイプ | DOI | |||||||||
| 関連識別子 | https://doi.org/10.1299/jsmelem.2007.4.7c302 | |||||||||
| 出版者 | ||||||||||
| 出版者 | LEM 2007 | |||||||||
| 抄録 | ||||||||||
| 内容記述タイプ | Abstract | |||||||||
| 内容記述 | This study proposes a method for suppressing the torques of the manipulators, with considering the effect of inertial forces in order to achieve the power-saved drive. The present study generates the trajectories, which here reveal time profiles of positions, velocities and accelerations of the entire path of the output point of manipulators. The trajectories of manipulators are introduced by determining both the initial position and motion curves for the entire path. This study expresses the motion curve as a polynomial and determines its coefficients. The initial pose and unknown coefficients are decided by a heuristic algorithm to achieve power-saved drive. As such problems have non-linearity and multi-peak solutions, it is difficult to find out the optimum one. Thus, this study uses a heuristic algorithm "SHA" to determine the appropriate motions of manipulators, because the heuristic algorithm is, as well known, an effective solution for such complicated problem. This study determines the optimal motions of the PUMA560 comprising spatial 3 degrees-of-freedom by the proposed method, and verifies its availability. | |||||||||
| 著者版フラグ | ||||||||||
| 出版タイプ | AM | |||||||||
| 出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||||||
