Quasi-Minimum Time Trajectory Planning Method of Robot Arm with Electromagnetic Attraction Hand Using Genetic Algorithm and Experiments
Yusuke Mutsuura*, Hiroyuki Kojima*, Yuuichi Takeuchi*, and Hiroki Saitou**
*Department of Mechanical System Engineering, Graduate School of Engineering, Gunma University
1-5-1 Tenjincho, Kiryu, Gunma 376-8515, Japan
**Tokyo Rhythm Watch Corporation
1-299-12 Kitabukuromachi, Omiya, Saitama 330-9551, Japan
In this study, a quasi-minimum time trajectory planning method for the electromagnetic attraction transfer control of a magnetic object by use of a three-link robot arm with an electromagnetic attraction hand is proposed. The three joints of the robot arm are driven with reduction gears and DC motors. In the trajectory planning using a genetic algorithm, the magnetic object is assumed to be transferred along a linear trajectory, and the trajectory of the robot arm is formulated by use of a chromosome consisting of two genes. Then, the fitness function of the genetic algorithm for a quasi-minimum time trajectory planning is defined using two kinds of the constraint conditions as to the allowable maximum moment applied to the magnetic object and the allowable maximum DC motor torque. Furthermore, the numerical calculations and the experiments have been carried out, and the usefulness of the present quasi-minimum time trajectory planning method is confirmed theoretically and experimentally.
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