| Abstract: | Past studies on hot-line robot systems have focused on the execution of various hot-line works such as the cutout/connection of electric wires and replacement of insulators. Robot-base vibration control methods, however, have seldom been discussed [1–5]. The high-speed operation of the hot-line work robot system, Phase II, in tasks is being worked on with the goal of practical utilization in the near future. Speed increases in boom and manipulator movements are a key part of this. The Phase II system's boom has a natural frequency of 1.0 Hz in commonly used angles. If the boom or the manipulator is rapidly accelerated, the robot base vibrates violently, hampering task execution. This paper proposes a vibration control method, in which control gain and position command acceleration/deceleration time are optimized for the movement of the robot base. In conjunction with the vibration control, we also focus on the optimization for positioning accuracy and preventing overshoot of the manipulator. These three issues are simultaneously solved using the genetic algorithm. The proposed method has been determined for use in a preliminary experiment for the Phase II system development. A simplified test-bed manipulator of the two-axis horizontal scalar type was employed for simulation and experimentation in order to reduce modeling error. The initial effects brought about by the proposed method are verified. © 1998 Scripta Technica, Electr Eng Jpn, 123(2): 40–52, 1998 |
