抄録
This paper aims to develop a method for planning the transfer trajectory automatically and efficiently for 2-Dimensional transfer machine. In a 2-D transfer machine, it has been required to transfer a load quickly and safety. In order to transfer safety, vibration suppression and obstacles avoidance to the load have to be accomplished in the transfer system. Therefore in this paper, we propose the trajectory planning method realizing the vibration suppression and the obstacles avoidance to the load and reaching a target position in a short time. In this approach, the trajectory of the cart can be derived by the optimization problem which minimizes the integral square error of the cart position and the target position, and energy of desired frequency bands. The natural frequencies of the vibration are assigned to the frequency bands for vibration suppression. The optimization problem can be constrained on the acceleration, the velocity, and the position of the cart. The obstacles are given as the constraints of the cart position. Moreover in order to derive the trajectory in a short time, the fast solution of the trajectory planning is also proposed in this paper. The effectiveness of the proposed transfer control system is verified by the simulations of the 2-D transfer system.
