抄録
In this paper, we propose an energy saving high-speed position control of a flexible manipulator to suppress residual vibrations in point-to-point (PTP) motion. In the proposed method, the trajectory profile of the PTP motion is generated through a cycloidal function whose input is the output of a polynomial function. The obtained trajectory is dependent upon the coefficients of the polynomial function. To achieve the suppression of the residual vibrations as well as the operating energy of this PTP motion, the coefficients are tuned by a particle swarm optimization (PSO) algorithm. To accomplish the minimization of not only the driving energy but also the residual vibrations consisting of first and second vibration mode amplitudes in the high-speed positioning, we define the sum of the driving torque as the objective function for the PSO. Numerical simulation shows that by minimizing the sum of the driving torque, the optimal trajectory suppressing not only the first vibration mode but also the second vibration mode can be generated for the high-speed positioning. The optimal trajectory also reduces the operating energy. In the experiments, we demonstrate that the feedforward vibration control can be achieved by driving manipulator along the optimal trajectory. Results obtained from simulations and experiments prove the effectiveness and feasibility of the proposed vibration control technique.
