Executing optimized throwing motion on robot arm with free joint

Chyon Hae Kim, Shigeki Sugano

研究成果: Article査読

4 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)1571-1578
ページ数8
ジャーナルAdvanced Robotics
30
24
DOI
出版ステータスPublished - 2016 12 16

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人間とコンピュータの相互作用
  • ハードウェアとアーキテクチャ
  • コンピュータ サイエンスの応用

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