可変速軌道計画による2自由度ロボット・マニピュレータ経路制御

抄録

New trajectory planning method with consideration on control ability of designed robot manipulator control system is proposed. Tracking speed of robot manipulator should be changed with curvature of the given path. Systematical method for determination of the tracking speed considering the designed control system's ability has not been developed. The determination of the tracking speed is made systematically on the basis of the frequency response of the designed control system. Then, trajectory planning is finished by carrying out the procedure only once. That is, trial and error procedure is not necessary. This method is called as variable speed trajectory planning. Adaptive control with variable speed method is considered. Adaptive control method is very suitable to apply the variable speed method because each servo system of robot manipulator is decoupled by adaptive control method. Parallel drive robot manipulator is taken to be an example to show the effectiveness of the proposed method.