Design of an optimal trajectory control system for flexible robot arms and simultaneous optimization of trajectory control and structural systems

Masao Nomura, Hiroshi Yamakawa

    Research output: Contribution to journalArticle

    Abstract

    In this study, a method to develop an optimal trajectory for flexible robot arms is first presented for a given specific path of the arms. The optimal trajectory is so determined that the torques of the motors are to be fully used, and the time to reach the prescribed position (called the "work time") is to be minimized. Then a simultaneous optimization method of trajectory control and structural systems is developed, by utilizing the method examined. The lengths of the arms and the trajectory are taken as design variables in numerical examples. Both optimum lengths and the trajectory are searched for simultaneously by the proposed method, and examined.

    Original languageEnglish
    Pages (from-to)249-260
    Number of pages12
    JournalFinite Elements in Analysis and Design
    Volume14
    Issue number2-3
    DOIs
    Publication statusPublished - 1993

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    ASJC Scopus subject areas

    • Computer Science Applications
    • Computational Mechanics

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