Optimal Cyclic Vertical Juggling Using 1-DoF Arm

摘要：

Manipulation by juggling of an object by a 1-DoF prismatic arm is studied. The manipulation task is decomposed into two phases: accelerating phase and decelerating phas. The manipulation task is modeled as an optimization problem in order to get maximum flight while having minimum impact at catch time. The optimization problem is solved using sequential quadratic programming method and the results are verified by simulations in ADAMS.

作者: Adel Akbarimajd

作者单位: Department of engineering,University of Mohaghegh Ardabili,Ardabil,Iran

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1411-1415

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）