書誌事項
- タイトル別名
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- Optimal Command Generation for High-Speed High-Precision Position Control of Multi-Axes Servo Systems.
- コウソク コウセイド セイギョ オ ジツゲン スル タジク サーボ システム ノ サイテキ シレイチ セイセイ
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抄録
Minimizing cycle time in manufacturing systems is a general requirement for improvement of productivity. Many of manufacturing machines are composed of multi-axes mechanical systems, in which each axis is controlled to synchronize with other axes to achieve given tasks. This paper proposes a method to generate an optimal trajectory command for such multi-axes mechanical systems, which minimizes the cycle time and satisfy constraints on trajectory tolerance to keep the synchronized motion. Based on an initially given trajectory command, the optimal command is generated by(1)scaling the time axis to obtain the optimal speed along the trajectory and(2)deforming the given trajectory command to compensate for the delay in a position servo of each axis. Simulation results for a 2 D.O.F robot manipulator are presented to show the effectiveness of the proposed method.
収録刊行物
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- 日本機械学会論文集Ｃ編
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日本機械学会論文集Ｃ編 66 (641), 96-103, 2000
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390282681305750400
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- NII論文ID
- 130004084057
- 110002382886
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- NII書誌ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- NDL書誌ID
- 4971101
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可