2021 Fiscal Year Final Research Report
Trajectory control of multi-degree-of-freedom systems with kinematic redundancy by motion optimization for high-speed and high-precision machining
Project/Area Number |
20K14622
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Research Category |
Grant-in-Aid for Early-Career Scientists
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Allocation Type | Multi-year Fund |
Review Section |
Basic Section 18020:Manufacturing and production engineering-related
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Research Institution | Tokyo Institute of Technology |
Principal Investigator |
Tajima Shingo 東京工業大学, 科学技術創成研究院, 助教 (70862308)
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Project Period (FY) |
2020-04-01 – 2022-03-31
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Keywords | 軌跡制御 / 冗長システム / 産業用ロボット / 機械加工 |
Outline of Final Research Achievements |
To realize high-speed and high-precision machining by a multi-degree-of-freedom system with kinematic redundancy, this study newly constructed an 8-axis control system using a 2-axis Cartesian orthogonal stage and a 6-axis industrial robot, and developed a trajectory control method for joint command profiles required for machining. The proposed trajectory generation method enables accurate interpolation of the position and orientation command trajectories of the robot motion in the work coordinate system. In addition, the static and dynamic components of positioning accuracy are controlled by optimized trajectory of redundant joints, and a novel velocity profile generation method is developed by considering the natural frequencies that vary depending on the robot's posture.
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Free Research Field |
加工学および生産工学関連
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Academic Significance and Societal Importance of the Research Achievements |
本研究では,産業用ロボットを機械加工へ応用するために重要となる工具軌跡と関節角度,そして速度計画について同時に考慮した高速高精度な冗長システムの軌跡生成手法を構築した.課題の一つであったシステムの剛性を高く保つことができるため,産業用ロボットを用いた機械加工の精度向上が実現できる.その結果,従来は複雑形状の部品加工に必要であった同時5軸制御工作機械を産業用ロボットに置き換えることが可能になり,生産性の向上が期待できる.
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