| Budget Amount *help |
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2016: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2015: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Fiscal Year 2014: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
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| Outline of Final Research Achievements |
This study proposed an energy-saving feed-forward control technique for the point-to-point control of a manipulator system consisting of multiple flexible links. In the proposed method, the trajectory of a manipulator was expressed by the combination of polynomial and cycloidal functions. The generated trajectory was dependent on the coefficients of the polynomial function. Thus, to generate the optimal trajectory achieving the minimization of the residual vibrations and driving energy, the coefficients were tuned by an optimization technique. The trajectory planning method was applied to a two-link flexible manipulator, and then we revealed that the optimal trajectory considering its flexibility and dynamic interaction was generated for energy-saving and residual vibration suppression.
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