Study on Optimal Motion Trajectory of Multi-Degree-of Freedom Articulated Mechanism
多自由度铰接机构最优运动轨迹研究
基本信息
- 批准号:04452155
- 负责人:
- 金额:$ 5.82万
- 依托单位:
- 依托单位国家:日本
- 项目类别:Grant-in-Aid for General Scientific Research (B)
- 财政年份:1992
- 资助国家:日本
- 起止时间:1992 至 1993
- 项目状态:已结题
- 来源:
- 关键词:
项目摘要
In order to develop a generic optimal motion planning method and to investigate features of the optimal motion of articulated mechanisms, we formulated an approximated numerical method based on the fifth-order Hermite polynomial and nonlinear numerical optimal planning methods. By using this method we derived the minimum time motion trajectory of direct drive robotic manipulators under average heat generation constraint in terms of Kuhn-Tucker theorem and verified the effectiveness of the solution by experiments. In order to markedly reduce the computing time, we also developed a quazi-minimum time motion planning method that can always leads to a good approximated solution to the strictly optimum solution. For investigation of more complex motion of articulated mechanisms, we developed a numerical method to get an optimal human arm motion that can throw a ball at maximum speed and found that the optimal motions are classified into two groups. We also studied a numerical method to obtain the optimal otion of giant swing as a typical example of the non-holonomic constraint motion. An approximated solution with zero input torque at the first axis could be obtained by using the penalty method. By introducing friction torque between hand and bar and allowable region of arm motion, we could get a solution that is similar to a real human body motion of the giant swing
为了建立一种通用的最优运动规划方法,研究铰接机构最优运动的特点,基于五阶Hermite多项式和非线性数值最优规划方法,提出了一种近似的数值方法。利用该方法根据Kuhn-Tucker定理推导了平均产热约束下直接驱动机器人的最小时间运动轨迹,并通过实验验证了解的有效性。为了显著减少计算时间,我们还开发了一种准最小时间运动规划方法,该方法总能得到严格最优解的良好近似解。为了研究更复杂的关节机构运动,我们开发了一种数值方法来获得以最大速度投掷球的最佳人体手臂运动,并发现最佳运动可分为两类。作为非完整约束运动的典型例子,本文还研究了巨摆运动的数值求解方法。采用惩罚法可以得到第一轴处输入力矩为零的近似解。通过引入手与杆之间的摩擦力矩和手臂运动的允许范围,可以得到近似于真实人体巨摆运动的解
项目成果
期刊论文数量(34)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
Teramoto, T., and Ono, K.: "High Speed Motion Control of Mechanisms under Average Heat Generation Restriction (3rd Report, Trajectory Plannin Method of Three-Degrees-of-Freedom SCARA-Type Robotic Manipulator with Short Calculation Time)" Trans. of JSME. 5
Teramoto, T. 和 Ono, K.:“平均发热量限制下的机构高速运动控制(第三次报告,短计算时间的三自由度 SCARA 型机器人机械臂的轨迹规划方法)” Trans
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Takashi Teramoto and Kyosuke Ono: "High-Speed Motion Control of Mechanism under Average Heat Generation Restriction(Minimum-Time Trajectory Planning of Robotic Manipulator and Calculated Examples of)" JSME International Journal. 37 (6月号掲載予定). (1994)
Takashi Teramoto和Kyosuke Ono:“平均发热量限制下的机构的高速运动控制(机器人机械臂的最小时间轨迹规划和计算实例)”JSME国际期刊37(预定6月号出版)。 (1994)
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Teramoto, T., and Ono, K.: "High Speed Motion Control of Mechanisms under Average Heat Generation Restriction (4th Report, Generic Minimum-Time Trajectory Planning of Manipulator Including Small Coupling Effect System)" Trans. of JSME. to be published. 60
Teramoto, T. 和 Ono, K.:“平均发热量限制下的机构高速运动控制(第四次报告,包括小耦合效应系统的机械臂通用最短时间轨迹规划)” Trans。
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寺本律,小野京右: "平均的発熱が制限となる運動機構の高速駆動に関する研究(第2報,ロボットアームの軌道生成問題の解法と2自由度系の解析例)" 日本機械学会論文集(C). 57. 129-136 (1991)
Ritsu Teramoto、Kyosuke Ono:“以平均发热量为极限的运动机构的高速驱动研究(第二次报告,机器人手臂轨迹生成问题的解决方案以及2自由度系统的分析示例)”日本机械工程师学会 (C)。 57. 129-136 (1991)。
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Kyosuke Ono and Takashi Teramoto: "Minimum-Time Trajectory Planning for Multi-Degree-of-Freedom System under Average Heat Generation Restriction" Proceedings of the IMACS/SICE International Symposium on Robotics,Mechatronics and Manufacturing Systems'92.
Kyosuke Ono 和 Takashi Teramoto:“平均发热限制下多自由度系统的最小时间轨迹规划”IMACS/SICE 国际机器人、机电一体化和制造系统研讨会论文集92。
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ONO Kyosuke其他文献
ONO Kyosuke的其他文献
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{{ truncateString('ONO Kyosuke', 18)}}的其他基金
Study on Self-Induced Contact Bouncing Vibration and Stable Contact Sliding Conditions
自感接触弹跳振动与稳定接触滑动条件的研究
- 批准号:
15360081 - 财政年份:2003
- 资助金额:
$ 5.82万 - 项目类别:
Grant-in-Aid for Scientific Research (B)
Analysis of Dynamic Contact Behavior and Optimum Design Condition of a Slider in Near-Contact regime
近接触状态滑块动态接触行为分析及优化设计条件
- 批准号:
13450063 - 财政年份:2001
- 资助金额:
$ 5.82万 - 项目类别:
Grant-in-Aid for Scientific Research (B)
Clarification of Contact Dynamic Characteristics and Perfect Contact Sliding Condition of Tri-pad Contact Slider with Air Bearing System
阐明带空气轴承系统的三垫接触滑块的接触动态特性和完美接触滑动条件
- 批准号:
10305015 - 财政年份:1998
- 资助金额:
$ 5.82万 - 项目类别:
Grant-in-Aid for Scientific Research (A).
Analysis of Nano-Dynamic Behaviors and Complete and Stable Tracking Conditions for Contact Slider
接触滑块纳米动力学行为及完整稳定跟踪条件分析
- 批准号:
08455079 - 财政年份:1996
- 资助金额:
$ 5.82万 - 项目类别:
Grant-in-Aid for Scientific Research (B)
Developmental Research of Hydrostatic Air Spindle for Ultra-Precision Machine Tools
超精密机床静压气主轴的开发研究
- 批准号:
06555044 - 财政年份:1994
- 资助金额:
$ 5.82万 - 项目类别:
Grant-in-Aid for Developmental Scientific Research (B)
Research on High Speed Access and Tracking Control of Flexible Mechenical System
柔性机械系统高速访问与跟踪控制研究
- 批准号:
61550182 - 财政年份:1986
- 资助金额:
$ 5.82万 - 项目类别:
Grant-in-Aid for General Scientific Research (C)
Development of High Stiffness Hydrostatic Gas Bearing Spindle with Two Circumferential Grooves
两个圆周槽高刚度静压气体轴承主轴的研制
- 批准号:
61850028 - 财政年份:1986
- 资助金额:
$ 5.82万 - 项目类别:
Grant-in-Aid for Developmental Scientific Research