遺伝的アルゴリズムを用いた最適軌道計画による2関節フレキシブルロボットアームの残留振動抑制制御

抄録

The residual vibration reduction control method for the point-to point control of a two-link flexible robot arm by use of the optimal trajectory planning based on the genetic algorithm is presented. In the optimal trajectory planning, the joint angular velocity profiles are formulated using cubic polynomial with three parameters, and the fitness function to minimize the residual vibration of the payload of the two-link flexible robot arm is defined as a function of the four parameters. The optimal trajectory planning algorithm is constructed by use of the fitness function and the genetic algorithm. From the view point of the dynamics of the two-link flexible robot arm, the suitable search intervals of the genetic algorithm are discussed to effectively implement the optimal trajectory planning. Furthermore, the numerical calculations and experiments have been carried out, and it is confirmed that the residual vibrations can be remarkably reduced.