抄録
It is important to plan an optimal trajectory in order to save the dissipated energy of a manipulator controlled with Point-to-Point motion. In this paper, the optimal angle functions of the joints minimizing the Joule’s and mechanical heat losses due to Coulomb friction are taken into consideration. It is difficult to obtain the optimal angle functions analytically, because Coulomb friction is discontinuous to angular velocity. Therefore the angle functions have been expanded by the Fourier series, and the coefficients have been determined by a Genetic Algorithm (GA). However, applying the conventional GA arises some serious problems when Coulomb friction is strong. This paper proposes a novel GA that divides the search generations into some stages, and increases the number of Fourier coefficients according to the progress of the stages. The optimal angle functions minimizing the dissipated energy can be obtained by using the novel GA, even if Coulomb friction is strong.
