Optimization of the Driving Pattern for a Moving Body Using Indexed Sinusoidal Curves. 2nd Report. Simultaneous Optimization of Driving Parameters and Additional Weight Mass Parameters for Linearly Interpolated Motion on Joint Coordinate Applied for a SCARA-Type Robot.

摘要

Recently, very fast motion has become necessary for mechatronic devices such as industrial robots and thus, an optimization method for the velocity driving pattern of the moving body is indispensable. We proposed indexed sinusoidal curves and achieved reduction of the motion time for a one joint mechanism by considering factors such as the motor torque-velocity characteristics and motor temperature increase in the 1st report. In this paper, indexed sinusoidal curves are applied to a two-joint mechanism (SCARA-Type robot) with additional weight driven by linearly interpolated motion on joint coordinate. The additional weight can equalize the motor torque margin of each joint motor. Optimization of the driving parameters and additional weight allows for the reduction of motion time.