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

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• 作者：Asaji Sato ; Osamu Sato ; Nobuya Takahashi…
• 关键词：Manipulator ; Trajectory ; Dynamic programming ; Impact force ; Minimum energy
• 刊名：Artificial Life and Robotics
• 出版年：2017
• 出版时间：March 2017
• 年：2017
• 卷：22
• 期：1
• 页码：113-117
• 全文大小：
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence (incl. Robotics); Computation by Abstract Devices; Control, Robotics, Mechatronics;
• 出版者：Springer Japan
• ISSN：1614-7456
• 卷排序：22

文摘

In this article, equations of motion of a manipulator are derived in consideration of the characteristics of DC servomotors, and a performance criterion for saving energy is defined in consideration of energy consumption of the driving source. When the manipulator is operated in a vertical plane, the system is highly non-linear due to gravity, and an analytical solution cannot be found. By considering for catching the object that moves parabolic, trajectories for saving energy are calculated by iterative dynamic programming method. And, the dynamic characteristics of two-link system controlled based on the trajectory for saving energy are analyzed theoretically. When the object moves parabolic, measurement method for the force of collision between link and object is examined by experiment.