著者

仇 時雨 神谷 好承 青柳 誠司 岡部 佐規一 牧野 洋

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 C編 (ISSN:03875024)

巻号頁・発行日

vol.57, no.542, pp.3240-3246, 1991-10-25 (Released:2008-02-21)

参考文献数

9

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When a robot is used for doing work such as laser processing or water-jet processing, not only the trajectory of the end-effector but also its velocity is very important from the viewpoint of the processing accuracy. On the other hand, several curve-interpolation methods have been suggested, but it is cannot be said with certainty that the correct velocity control of the trajectory is possible. In this study, in order to solve this problem, a method using the clothoidal curve is introduced, and this method enables the velocity control with high accuracy for any trajectory.

著者

神谷 好承 岡部 佐規一 横山 恭男

出版者

公益社団法人 精密工学会

雑誌

精密機械 (ISSN:03743543)

巻号頁・発行日

vol.47, no.6, pp.706-711, 1981-06-05 (Released:2009-06-30)

参考文献数

4

被引用文献数

1 1

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This paper deals with the motion control of a manipulator or an industrial robot arm. Generally speaking, manipulators or industrial robot arms that are constructed by the open-loop articulated kinematic chains are non-linear dynamic systems and the motion equation is described by the coupling dynamic systems between the connecting chains. So it is not easy to control a manipulator or a robot arm for positioning to the desired place at high speed. In this study, for the high speed motion of a robot arm, we tried to adapt the minimum time control to the motion of robot arm that has two articulated kinematic chains, and found the optimal path to move the robot arm from the initial configulation to the final configulation. This optimal path is very similar to the figure of which we move our own arms. And we showed the way to solve the near-minimum-time control for the multi-input and non-linear dynamic system like a robot arm that is constructed by the open-loop articulated kinematic chains.