エネルギーを回生する水平多関節マニピュレータの最小エネルギー軌道とそれに及ぼす動作時間の影響

抄録

Saving energy is one of the main topics of discussion in the modern world due to the limitation of energy resources and the deterioration of the environment on earth. It is, therefore, timely to consider saving the dissipative energy in a manipulator system in PTP motion control.
This paper deals with the determination of the optimal trajectory which can minimize the dissipative energy in actuators of a horizontally articulated manipulator. The dissipative energy is dependent on the operating time and the angular functions of the joints. First it is proved that each optimal angular function is anologous, even for different operating times, and that the dissipative energy is inversely proportinal to the cube of the operating time. When obtaining the optimal angular functions by solving the two-point-boundary-value problem with non-linearity, it is essential to select a good starting function for the angles so that the solution does not fall into a local minimum. Therefore this paper proposes a starting function so that the driving currents of the joints can be reduced. The simulations show that the optimal trajectory based on the proposed starting function is effective in saving energy.