Method for suppressing residual vibration of robot arm through a heuristic algorithm

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  • 発見的手法を用いたロボットアームの残留振動抑制

Abstract

<p>This study proposed the method for suppressing residual vibration occurred in a grasping object by optimizing the trajectory which determines a change of the displacement and posture of a robot with time. In the proposed method, the residual vibration measured by actually operating the robot is evaluated, and the trajectory is optimized through the heuristic algorithm. Therefore, a robotic dynamic model that is generally difficult to construct is not required. As a result of applying the proposed method to a commercially industrial robot arm operating along a linear locus, the optimal trajectory generated by the heuristic algorithm succeeded in reducing the settling time of the residual vibration by 98 % compared to the manufacturer’s standard trajectory.</p>

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