フレキシブルマニピュレータの最適軌道計画

—駆動エネルギーと残留振動を最小化するためのアプローチ—

抄録

This paper proposes an optimal trajectory planning for a flexible manipulator in a point-to-point motion. In order to get the optimal trajectory, two objective functions are considered: the first is the driving energy and another one is the residual vibration.