Motion Control of a Ball Throwing Robot with a Flexible Robotic Arm
Motion control of flexible arms is more difficult than that of rigid arms,however utilizing its dynamics enables improved performance such as a fast motion in short operation time.This paper investigates a ball throwing robot with one flexible link.This robot throws a ball at a set speed,and the manipulator can control the throwing direction of the ball and its release position.A mathematical model of this ball throwing robot is derived through Hamilton’s principle.Several patterns of torque input are designed and tested through the proposed simulation models.The parameters of each torque input pattern is optimized and determined by chaos embedded vector evaluated particle swarm optimization (CEVEPSO).Finally,a linear quadratic regulator (LQR) is used to suppress oscillations of the flexible arm.
Motion control Flexible robotic arm CEVEPSO Ball throwing robot
Yizhi Gai Yukinori Kobayashi Ryohei Yamakawa Yohei Hoshino Takanori Emaru
Division of Human Mechanical Systems and Design, Graduate School of Engineering,Hokkaido University, N13W8, Kita-Ku, Sapporo, Hokkaido, 060-8628, Japan
国际会议
天津
英文
437-442
2012-10-16（万方平台首次上网日期，不代表论文的发表时间）