剛体リンク系の汎用的な最適軌道計画アルゴリズム

―2自由度マニピュレータへの適用―

抄録

This paper proposes a general optimal trajectory planning algorithm for link systems. The optimal trajectory planning problem for link systems is the problem of minimizing an cost function of the system with giving the initial state and the target state. This paper describe formulation of optimal control problems and its method for solving. These are shown in an extended formulation that can be applied to the free final time problem by using time scale factor. We have constructed optimal trajectory planning algorithm to combine with hierarchical gradient method. The proposed algorithm can be applied to free final time optimal trajectory planning problems with control and state constraints. The proposed algorithm is applied to time optimal control for a 2-DOF manipulator in order to verify the effectiveness.