発見的手法を用いたロボットアームの残留振動抑制

抄録

This study proposed the method for suppressing residual vibration occurred in a grasping object by optimizing the trajectory which determines a change of the displacement and posture of a robot with time. In the proposed method, the residual vibration measured by actually operating the robot is evaluated, and the trajectory is optimized through the heuristic algorithm. Therefore, a robotic dynamic model that is generally difficult to construct is not required. As a result of applying the proposed method to a commercially industrial robot arm operating along a linear locus, the optimal trajectory generated by the heuristic algorithm succeeded in reducing the settling time of the residual vibration by 98 % compared to the manufacturer’s standard trajectory.