Swing motion control of casting manipulation (experiment of swing motion control)

Arisumi, Hitoshi; Kotoku, Tetsuo; Komoriya, Kiyoshi

doi:10.1109/robot.1998.680983

Cited by 11 publications

(3 citation statements)

References 11 publications

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“…2. After swinging the arm repeatedly to store the kinetic energy, the end-effecter is launched to the target by changing the length of the wire [1,2]. While the end-effecter flies, its trajectory is controlled by the tension of the wire [3].…”

Section: Introductionmentioning

confidence: 99%

Launching penetrator by casting manipulator system

Arisumi

Otsuki

Nishida

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Supposing a space mission of setting monitoring devices at suitable positions on the moon, we discuss how to apply a casting manipulation to the mission. This paper addresses a mechanism of a casting manipulator system and control method to launch a penetrator to the desired position. First, we discuss launching methods, and focus on a method by using rotation of a boom. We then propose the mechanism that keeps a posture of the penetrator equipped at the tip of the boom constant for the absolute coordinate system during its rotation. This mechanism prevents the wire which connects the penetrator and the robot's base from winding the boom. Analyzing a position error of landing point caused by delay of releasing the penetrator, we propose the motion control of the boom to reduce the error. Finally, we develop the system and verify the effectiveness of the proposed method through experiment.

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Section: Introductionmentioning

confidence: 99%

Launching penetrator by casting manipulator system

Arisumi

Otsuki

Nishida

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…For example, Akella et al [17] explored a method for dynamic manipulation of a planar rigid body on a conveyor belt using a robot with just one joint. With regard to manipulating DLOs, Casting manipulators [18], which include a flexible string in the link mechanism to enlarge the work space, are also an attempt to manipulate in a dynamic way. Lamiraux and Kavraki [19] addressed the problem of path planning for a thin elastic metal plate under fairly general manipulation constraints.…”

Section: Introductionmentioning

confidence: 99%

Manipulating deformable linear objects: sensor-based fast manipulation during vibration

Yue

Henrich

Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)

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“…With its small size, simple mechanism and small power, the manipulator realizes a large work space by making more effective use of its dynamics, compared with the conventional manipulators. Since the manipulator uses substantially less energy to move and does not suffer from As shown in Figure 1, casting manipulation consists of the following five phases, We proposed a method of generating a desired swing motion [5], that is phase (l), and a planning method for releasing the gripper [6], phase (2). In this paper, we deal with the posture control of the gripper by conducting experiments on the tension of a flexible string.…”

Section: Introduction 2 Casting Manipulationmentioning

confidence: 99%

Posture control of casting manipulation

Arisumi

Komoriya²

Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)

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We have been developing a casting manipulator which includes aflexible string in the link mechanism to enlarge the work space of the manipulator. During casting manipulation, the gripper is thrown to the target by releasing the string at a suitable time after generating enough motion by swinging. In this paper we deal with the posture control of the gripper afer the throwing motion. First, we point out some problems of planning for throwing the gripper while considering its posture when catching. Then we propose a method of applying an impulsive force to the gripper in the air through the string by restricting the motion of the string. Investigating the characteristics of the string through experiments, we confirmed the effectiveness of the impulsive force. This method was evaluated by comparing the results of numerical simulations with those of our experiments using the experimental casting manipulator hardware.tumbling by moving, it might be possible to use it to remove rubbles in a disaster-stricken district, or to investigate the nature of the soil on Mars. Furthermore, it can move its main body to an inaccessible place by catching some fixed object and winding a string.We have investigated the method of generating stable swing motion and the planning the throwing of the gripper to a target as these are the basic motions of casting manipulation. In this paper we discuss the mid-air posture control of the gripper. The paper is organized as follows: Section 2 introduces the process of casting manipulation and presents the periodic swing motion of a casting manipulator model with two links. In Section 3, we propose a method of controlling the posture of the gripper while the gripper is flying in the air. We also describe the results of numerical simulations. In Section 4, we describe the results of our experiment and discuss the effectiveness of the proposed method. Concluding remarks are given in the final section.

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Swing motion control of casting manipulation (experiment of swing motion control)

Cited by 11 publications

References 11 publications

Launching penetrator by casting manipulator system

Launching penetrator by casting manipulator system

Manipulating deformable linear objects: sensor-based fast manipulation during vibration

Posture control of casting manipulation

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