書誌事項
- タイトル別名
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- Method for suppressing residual vibration of robot arm through a heuristic algorithm
抄録
<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>
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2020 (0), 1P1-H05-, 2020
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
- 1391693801405156480
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- NII論文ID
- 130007943498
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- ISSN
- 24243124
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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
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可