Trajectory planning for multi-link flexible arms in order to achieve high-speed and little vibratory operation

多连杆柔性臂轨迹规划以实现高速、小振动运行

基本信息

批准号：
15560199
负责人：
ARII Shiro
金额：
$ 2.3万
依托单位：
National University Corporation Tottori University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2003
资助国家：
日本
起止时间：
2003 至 2004
项目状态：
已结题

项目摘要

This study deals with the optimum trajectory planning for multi-link flexible arms. For the vibration control of the flexible arms, various vibration control techniques are examined and applied. However, by using the optimum trajectories, the flexible arms can rotate from its initial position to a desired location in given movement execution time without large troublesome vibrations. Moreover, additional feedback control devices besides the controller of existing actuators are not necessary.The proposed method creates the desired trajectories numerically using the simulation model of the flexible arms under the consideration of the any practical constraint such as obstacles and the limitation of servomotor output torque. The information needed for generating the desired trajectories is only the system model of the multi-link flexible arms. The desired trajectory is selected from trial trajectories by repeating the calculation of the responses of the flexible arms rotating along each trial trajectory. The trial trajectories are created by the combination of the derivative of angular acceleration with respect to time. As the stiffness of the system is lower, the number of the trial trajectories increases. However, it is easy to share the calculation with several computers. Therefore, the influence of the calculation time to obtain the desired trajectory is not very serious. In order to confirm the effect of the desired trajectories an reducing the vibrations of the flexible arms, the responses of three-link flexible arms were simulated. It can be seen from the numerical results that the vibrations of the flexible arms were reduced enough by using the desired trajectories.

本研究涉及多连杆柔性臂的最佳轨迹规划。对于柔性臂的振动控制，研究并应用了各种振动控制技术。然而，通过使用最佳轨迹，柔性臂可以在给定的运动执行时间内从其初始位置旋转到所需位置，而不会产生大的麻烦振动。此外，除了现有执行器的控制器之外，不需要额外的反馈控制装置。所提出的方法在考虑任何实际约束（例如障碍物和伺服电机输出扭矩的限制）的情况下，使用柔性臂的仿真模型以数值方式创建期望的轨迹。生成所需轨迹所需的信息只是多连杆柔性臂的系统模型。通过重复计算沿着每个试验轨迹旋转的柔性臂的响应，从试验轨迹中选择期望的轨迹。试验轨迹是通过角加速度相对于时间的导数的组合来创建的。随着系统的刚度降低，试验轨迹的数量增加。然而，与多台计算机共享计算很容易。因此，计算时间对获得期望轨迹的影响并不是很严重。为了确认所需轨迹和减少柔性臂振动的效果，对三连杆柔性臂的响应进行了模拟。从数值结果可以看出，通过使用期望的轨迹，柔性臂的振动得到了足够的减小。