抄録
This paper is concerned with high-speed transfer control with vibration suppression and obstacle avoidance to a transfer system on a plane surface. In this study, the reference signals which is input to the motor system with a position control are optimized offline for reaching the target position in a short time, suppressing the vibration, and avoiding the obstacle. This approach offers that the cost function and the inequality constraints are induced in a quadratic problem with quadratic constraints. Then, the fast solution which derives the reference trajectories is proposed in this paper. The effectiveness of the proposed approch is verified by simulation of transfer machine on a plane surface.
