Executing optimized throwing motion on robot arm with free joint. (16th December 2016)

• Record Type: Journal Article
• Authors: Kim, Chyon Hae; Sugano, Shigeki
• Is Part Of: Advanced robotics. Volume 30:Number 24(2016)
• Page Start: 1571
• Page End: 1578
• Publication Date: 2016-12-16
• Subjects: Throwing -- dynamics -- motion planning -- optimization -- passive joint; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2016.1255566
• Languages: English
• ISSNs: 0169-1864

Abstract

Graphical Abstract: Abstract : 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.