Development of Energy-Saving Driving Method for a Flexible Manipulator Using Shape Deformation by Piezoelectric Film

2021 Fiscal Year Final Research Report

• Project/Area Number: 19K04301
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Review Section: Basic Section 20020:Robotics and intelligent system-related
• Research Institution: Asahikawa National College of Technology
• Principal Investigator: Abe Akira 旭川工業高等専門学校, システム制御情報工学科, 教授 (30313729)
• Project Period (FY): 2019-04-01 – 2022-03-31
• Keywords: 柔軟マニピュレータ / 圧電フィルム / 振動制御 / フィードフォワード制御 / 省エネルギー

Outline of Final Research Achievements

This study deals with the positioning control problem of a one-link flexible manipulator consisting of two actuators which are a servomotor and a piezoelectric film, and then proposes a new feed-forward control method to suppress simultaneously the driving energy and residual vibration. Simulation and experiments were performed to verify the effectiveness of the proposed method. From this verification, it was confirmed that simultaneous optimization of the trajectory of servomotor and the input voltage of the piezoelectric film saves more energy than the only optimization of the trajectory. Therefore, we were able to establish an energy-saving feedforward control method by driving two actuators.

Free Research Field

ロボティクス，知能機械システム

Academic Significance and Societal Importance of the Research Achievements

低剛性なロボットマニピュレータを柔軟マニピュレータとして扱い，その振動制御に関する研究が国内外で盛んに行われている．しかしながら，そのほとんどが振動抑制のみに着目しており，省エネルギー化との両立を目指したフィードフォワード振動制御に関する研究は充分になされていない．したがって，本研究の成果である圧電フィルムとサーボモータの2つのアクチュエータによるさらなる省エネルギー駆動と振動制御の両立は，産業用ロボット等の省エネルギー化に寄与できるといえよう．