| Item type |
学術雑誌論文 / Journal Article(1) |
| 公開日 |
2017-10-03 |
| タイトル |
|
|
タイトル |
産業用ロボットの CP 制御における動力学モデルを用いない最適軌道生成 |
| タイトル |
|
|
タイトル |
Generating optimized trajectories of industrial robots in CP motion without kinetic models |
|
言語 |
en |
| 言語 |
|
|
言語 |
jpn |
| 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 |
| ID登録 |
|
|
ID登録 |
10.24517/00009652 |
|
ID登録タイプ |
JaLC |
| 著者 |
立矢, 宏
伊谷, 英之
林, 道大
伊賀, 裕和
樋口, 理宏
|
| 著者別表示 |
Tachiya, Hiroshi
Itani, Hideyuki
Hayashi, Michihiro
Iga, Hirokazu
Higuchi, Masahiro
|
| 提供者所属 |
|
|
内容記述タイプ |
Other |
|
内容記述 |
金沢大学高度モビリティ研究所 / 金沢大学理工研究域機械工学系 |
| 書誌情報 |
日本機械学會論文集. C編 = Transactions of the Japan Society of Mechanical Engineers. C
巻 79,
号 805,
p. 3075-3087,
発行日 2013-01-01
|
| ISSN |
|
|
収録物識別子タイプ |
ISSN |
|
収録物識別子 |
0387-5024 |
| NCID |
|
|
収録物識別子タイプ |
NCID |
|
収録物識別子 |
AN00187463 |
| DOI |
|
|
関連タイプ |
isVersionOf |
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|
識別子タイプ |
DOI |
|
|
関連識別子 |
10.1299/kikaic.79.3075 |
| 出版者 |
|
|
出版者 |
日本機械学会 = Japan Society of Mechanical Engineers |
| 抄録 |
|
|
内容記述タイプ |
Abstract |
|
内容記述 |
This study proposes a method of generating the optimized trajectory, which determines change of the displacement of a robot with respect to time, to reduce electrical energy or the peak current value occurred in motors. Previously, a lot of studies tried to optimize the trajectory of a robot, needing its kinetic model to obtain the input torque or energy as the evaluation value. However, the construction of the kinetic model is considerably difficult, because it needs to identify or to measure a lot of specifications of a robot. Thus, the present study proposes the method that obtains the evaluation value by measuring the currents, powers and so on of an actual robot in operation. Therefore, it does not need the analysis of the motion of a robot with the kinetic model. The proposed method optimizes the trajectories with a heuristic procedure by evaluating the measured values. In this study, we addressed the optimization method for continuous path controlled robots and applied it to a commercially available industrial manipulator, confirming that the generated trajectory can reduce electrical energy and the peak current value in a short time. © 2013 The Japan Society of Mechanical Engineers. |
| 権利 |
|
|
権利情報 |
© 2013 The Japan Society of Mechanical Engineers |
| 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 |
TE-PR-TACHIYA-H-79-805.pdf (564.8 kB)
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