Throwing motion control of the springed Pendubot via unstable zero dynamics

Shoji, Takuya; Nakaura, Shigeki; Sampei, Mitsuji

doi:10.1109/cca.2010.5611268

Cited by 16 publications

(11 citation statements)

References 11 publications

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“…Serial robots with rotary axis are frequently used [3,4,5,6,7]. In [7], for instance, a robot is described which is capable of throwing balls into a moving basket with a success rate of 99%.…”

Section: State-of-the-artmentioning

confidence: 99%

Automated throwing and capturing of cylinder-shaped objects

Frank

Janoske

Mittnacht

et al. 2012

2012 IEEE International Conference on Robotics and Automation

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A new approach for transportation of objects within production systems by automated throwing and capturing is investigated. This paper presents an implementation, consisting of a throwing robot and a capturing robot. The throwing robot uses a linear and the capturing robot a rotary axis. The throwing robot is capable of throwing cylinder-shaped objects onto a target point with high precision. The capturing robot there smoothly grips the cylinders during flight by means of a rotational movement. In order to synchronize the capturing robot and the cylinder's pose and velocity, its trajectory has to be modeled as well as the motion sequences of both robots. The throwing and capturing tasks are performed by the robots automatically without the use of any external sensor system.

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Section: State-of-the-artmentioning

confidence: 99%

Automated throwing and capturing of cylinder-shaped objects

Frank

Janoske

Mittnacht

et al. 2012

2012 IEEE International Conference on Robotics and Automation

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“…As such examples, studies on enduring rotary motion of a devil stick and throwing motion control of an under-actuated robot have been reported [1], [2]. If skilled human motions were realized by robots, methods of energy efficient motion control utilizing skilled motions would be proposed.…”

Section: Introductionmentioning

confidence: 98%

“…(1) The yoyo is thrown in an arc from the bottom to the front. (2) The yoyo is passed between the arm and the body. (3) Given an impulse by quick twisting of the wrist, the yoyo is thrown again to the front.…”

Section: Introductionmentioning

confidence: 99%

Control system design for robot arms playing inside-loop yoyo trick

Sakuma

Nemoto

Iwase

et al. 2012

IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society

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This study aims to realize a dexterous yoyo trick called "inside-loop" by a robot. In the inside-loop, a yoyo is thrown in an arc from the bottom to the front, passed between the arm and the body, accelerated by quick twisting of the wrist and thrown again to the front. Therefore, the yoyo loops around the hand. To realize this trick, the yoyo model including pulling the yoyo up by taking up the slack string, which is similar to the real behavior, is derived. A reference of a position of the hand is decided by simulations patterned on a human motion, and a controller solves discrete-time optimal control problems every control period. These are verified through numerical simulations.As a result, the inside-loop is realized by the robot.

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“…Mechanical systems with restricted numbers of actuators, called underactuated systems, has gathered much attention since there are a lot of meaningful applications such as locomotion [1], [2], [3], [4], human like motion [5], [6], [7], etc. Generally, an underactuated mechanical system is not feedback linearizable and non-minimum phase.…”

Section: Introductionmentioning

confidence: 99%

Change of controller based on partial feedback linearization with time-varying function

Sekiguchi

Sampei

2012

2012 IEEE 51st IEEE Conference on Decision and Control (CDC)

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This paper considers the problem to transfer the state from one zero dynamics submanifold to another one in finite time, for a time-invariant nonlinear system. The usage of time-varying zero dynamics submanifold is proposed to accomplish the transfer. The feature of this paper is facus on keeping the state on zero dynamics submanifold during the transfer. Main contribution is to develop the condition for doing this for the case that the two zero dynamcis submanifolds have the same dimension. The validity of the controller that is designed to satisfy the condition is demonstrated via a numerical simulation of mono-rotor unmanned aerial vehicle (UAV) system.

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Throwing motion control of the springed Pendubot via unstable zero dynamics

Cited by 16 publications

References 11 publications

Automated throwing and capturing of cylinder-shaped objects

Automated throwing and capturing of cylinder-shaped objects

Control system design for robot arms playing inside-loop yoyo trick

Change of controller based on partial feedback linearization with time-varying function

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