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タイトルヨミ
ロボット マニピュレータ ノ ショウ エネルギー ウンテンホウ
日本語以外のタイトル
Operation of Robot Manipulator with Minimized Dissipative Energy
ファイル
言語
日本語
著者
泉 照之
内容記述(抄録等)
With the depletion of global energy resources,saving energy has become an important aspect in design of energy consuming equipment. Hence,this paper deals with the determination of the optimal trajectory which can minimize the dissipated energy in an articulated manipulator.
In a horizontally articulated manipulator without friction, the optimal trajectory is found out globally. It is proved that the dissipated energy is monotonously decreased against the operating time in case of zero non-linear-fnction,therefore the optimal operating time does not exist. Since a vertically articulated manipulator system is highly non-linear due to gravity and an analytical solution can not be found. Therefore,the system is first linearized around various equilibrium points and the existence of an optimal time is investigated theoretically. The theoretical results and smulations show that an optimal operating time exists when the first link of the manipulator traverses the stable equilibrium point and that it does not exist when the firstlink traverses the unstable equilibrium point. Finally,the optimal trajectory of the manipulator constrained by an obstacle is obtained.
掲載誌名
島根大学総合理工学部紀要. シリーズA
31
開始ページ
71
終了ページ
91
ISSN
13427113
発行日
1997-12-26
NCID
AA11157087
出版者
島根大学総合理工学部
出版者別表記
Interdisciplinary Faculty of Science and Engineering, Shimane University
資料タイプ
紀要論文
部局
(旧組織)大学院総合理工学研究科
備考
30-41+ / 1997-2007
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