ソフトロボットハンドシステムのサイクルタイム向上のためのベイジアン最適化

抄録

This study proposes the methodology to optimize the motion of a manipulator that equips a pneumatic soft robotic gripper for improving the cycle time. The proposed methodology tunes the motion speed and acceleration of the manipulator, using the Bayesian optimization. The flexibility of the soft gripper could cause in its vibration that prevents the accurate positioning of the manipulator. The slow motion of the manipulator makes the vibration small, however, the cycle times become longer. Hence, this study presents the motion- optimization methodology to reduce the cycle time including the manipulator's operation and vibration-convergence times. Considering that it is difficult to analyze the dynamics of the soft grippe, the motion parameters are optimized through the actual exploration.