Analysis of manipulator in consideration of impact absorption between link and object

Analysis of manipulator in consideration of impact absorption between link and object

In this article, equations of motion of a manipulator are derived in consideration of characteristics of driving source. By considering impact force absorption between a link and an object, trajectories for saving energy are calculated by the iterative dynamic programming method. And, the dynamic ch...

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Veröffentlicht in:Artificial life and robotics 2012-12, Vol.17 (2), p.211-215
Hauptverfasser: Sato, Osamu, Sato, Asaji, Takahashi, Nobuya, Yokomichi, Masahiro
Format: Artikel
Sprache:eng
Schlagworte:
Artificial Intelligence
Computation by Abstract Devices
Computer Science
Control
Mechatronics
Original Article
Robotics
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Zusammenfassung:In this article, equations of motion of a manipulator are derived in consideration of characteristics of driving source. By considering impact force absorption between a link and an object, trajectories for saving energy are calculated by the iterative dynamic programming method. And, the dynamic characteristics of manipulator controlled based on the trajectory for saving energy are also analyzed theoretically and investigated experimentally.
ISSN:1433-5298
1614-7456
DOI:10.1007/s10015-012-0042-4