Study on Smart Hyper-Dynamic Manipulation
To improve the dynamic performance of a robot, dynamic manipulations have been investigated by many researchers. As an extension of the dynamic manipulation, the smart hyper-dynamic manipulation, defined as the highly skilled manipulation which has ultra-high motion specifications and utilizes dynamically-coupled driving quite efficiently, has been studied by the authors. This paper discusses the basic concept of the smart hyper-dynamic manipulation and gives the basic idea to realize such manipulation. This idea is based on a mechanism design similar to the dexterous structure of the human body and an energy control algorithm that realizes torque transfer from joints with high-power actuators to joints with low-power actuators. To validate our proposal, a prototype of golf swing robots has been developed by the authors. Simulation results show the smart hyper-dynamic manipulation can be successfully realized by the robot.
Smart hyper-dynamic manipulation Dynamically-coupled driving Mechanism design Energy control
Aiguo Ming Chunquan Xu Makoto Shimojo
The University of Electro-Communications, Japan
国际会议
2006现代科技国际研讨会(The International Workshop on Modern Science and Technology in 2006)
北京
英文
244-249
2006-04-01（万方平台首次上网日期，不代表论文的发表时间）