複数ロボットアームの総電力制約下における運用計画手法

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2024/12/01

タイトル(英語): Operation Planning for Multiple Robotic Arms with The Total Energy Constraint

著者名: 柴田　拓馬（室蘭工業大学），原木　蒼良（室蘭工業大学），平井　完弥（室蘭工業大学），上羽　正純（室蘭工業大学）

著者名(英語): Takuma Shibata (Muroran Institute of Technology), Sora Haraki (Muroran Institute of Technology), Kanya Hirai (Muroran Institute of Technology), Masazumi Ueba (Muroran Institute of Technology)

キーワード: 複数ロボットアーム，電力制約，組合せ最適化問題　　multiple robot arms，energy constraint，combinatorial optimization problem

要約(英語): Wire-free robot not using wires between links is proposed by utilizing wireless power transmission and communication. Attaching and detaching the links easily enable to install the arms into a facility on demand. Considering power supplied by the facility is limited, however, all of the robotic arms might not execute their task at same time. The worst case is whole system might shut down at the moment of task execution. This paper focuses on an operation planning method allowing the robot arms to execute their tasks under the total power constraints. Supposing that multiple arms control their end-effectors to follow given trajectories, instantaneous power can be discretized by considering only peak powers in each trajectory. Consequently, the operation planning problem is given as a solution to an integer programming by our method. As a merit of our method, the controllers programmed already on board of the arms need not to be changed, but to add a program solving the integer programming. The operation planning method is evaluated by a numerical simulation in this paper. This paper describes application requirements and its performance.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.144 No.12 （2024） 特集：電気・電子・情報関係学会東海支部連合大会

本誌掲載ページ: 1180-1187 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/144/12/144_1180/_article/-char/ja/