Executing optimized throwing motion on robot arm with free joint

Chyon Hae Kim, Shigeki Sugano

    Research output: Contribution to journalArticle

    3 Citations (Scopus)


    We address the throwing motion optimization for robot. In order to pursue the best throwing motion, we may need heuristics/intuition free methods. We propose a throwing method that is composed of rapid semi-optimal motion-planning and output zeroing method. So as to execute the optimized trajectories in real rigid body systems, we need some compensations for the noises around the optimized trajectories. We introduce a compensation method for the optimized throwing motions of a robot arm with a free joint. To validate the effectiveness of the proposed method, we conducted a throwing experiment using a two-link arm. As a result of the experiment, the robot arm threw a ball with 63.7 km/h, which was the best record through the past experiments of this arm.

    Original languageEnglish
    Pages (from-to)1571-1578
    Number of pages8
    JournalAdvanced Robotics
    Issue number24
    Publication statusPublished - 2016 Dec 16


    • dynamics
    • motion planning
    • optimization
    • passive joint
    • Throwing

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Human-Computer Interaction
    • Hardware and Architecture
    • Computer Science Applications

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