閉ループマルチボディシステムの最短時間軌道計画アルゴリズムとその実験による検証

抄録

In this paper, we address a problem of time-optimal trajectory planning for machines and robots modeled as multibody systems which is important to increase productivity in the factory. We propose a general and efficient algorithm that can generate a near-time-optimal trajectory considering system dynamics and limits of actuator driving forces/torques. Proposed algorithm combines path parameterization technique by using B-spline, trajectory optimization algorithm along a specified path which was originally developed for motion planning of robotic manipulators and a nonlinear programming formulation. Some simulation and experimental results are given and compared to illustrate the effectiveness of the proposed method.