2P1-J01 Development of Motion Planning Scheme for Compensating Elastic Deformation of Flexible Link Systems(New Control Theory and Motion Control)

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  • 2P1-J01 柔軟リンク系の弾性変形を補償する動作計画手法の開発(動作計画と制御の新展開)

Abstract

In recent years, robot mechanisms are made lighter than before to improve the safety of robots in human society and to decrease the running cost. Elastic deformation in the structural members normally occurs when high-speed operations or heavy-load operations are performed. The deformation may interfere with the operation. In this study, we developed a motion planning scheme to predict and compensate the elastic deformation of flexible link systems and the effect is estimated.

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