Title Transcription
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
Title Alternative
Operation of Robot Manipulator with Minimized Dissipative Energy
File
language
jpn
Author
Izumi, Teruyuki
Description
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.
Journal Title
島根大学総合理工学部紀要. シリーズA
Volume
31
Start Page
71
End Page
91
ISSN
13427113
Published Date
1997-12-26
NCID
AA11157087
Publisher
島根大学総合理工学部
Publisher Aalternative
Interdisciplinary Faculty of Science and Engineering, Shimane University
NII Type
Departmental Bulletin Paper
OAI-PMH Set
Interdisciplinary Graduate School of Science and Engineering
Remark
30-41+ / 1997-2007