Basic experiments on robot-base vibration control of the hot-line work robot system using genetic algorithm

被引：0
|
作者：
Kyushu Electric Power Co, Inc, Japan [1 ]
机构：
来源：
Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi) | 1998年 / 123卷 / 02期
关键词：
General review (GEN) - Theoretical (THR);
D O I：
暂无
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学科分类号：
摘要：
A vibration control method, in which control gain and position command acceleration/deceleration time are optimized for the movement of the robot base, is proposed. In addition, the optimization for positioning accuracy and preventing overshoot of the manipulator is considered. These issues are simultaneously solved using the genetic algorithm. A simplified test-bed manipulator of the two-axis horizontal scalar type was employed for simulation and experimentation to reduce modeling error. The initial effects of this method is verified.
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页码：40 / 52
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