Transversal Load-Swing Suppression Control of Travelling Crane.

Kotoku²,

Komoriya³

1999

IEEE Control Syst.

obots characteristically require a large work space, which is difficult to achieve with conventional manipulators due to mechanical limitations such as link length. Extending the link length or adding extra degrees of freedom [l], [2] could increase weight or produce inefficiency of operation. Mobile manipulators are a possible means for enlarging the work space [ 3 ] ; however, they cannot reach places such as deep depressions Namiki 1-2, Tsukuba City, Japan, arisurni@mel.go.jp. or steep slopes.To solve these problems, we focus on the human skills of fly fishing or lassoing as a sim-~~~ A version of this article andAutornation, Leuven, Belgium, ~ ple way of catching a distant target object. To apply these skills to robot manipulation, we proposed a new type of manipulator called a casting manipulator [4], which consists of r. With its small 56 0272-1708/99/$1#.0#019991EEE

Section: Casting Manipulationmentioning

confidence: 99%

“…Substituting (7) into (6) we obtain According to (8), we control the angle ofjoint 2 by linear state feedback. Then we compute input U as follows:…”

Section: August 1999mentioning

confidence: 99%

Swing motion control of casting manipulation

Kotoku²,

Komoriya³

1999

IEEE Control Syst.

“…Rewriting equations (3), (4) and (5) by ( OIr ,elr ) we obtain LIZ e l r Cl tc +LIZ SI = x c g 2 (6) (7) el, tc +el,--= v c , (8) where n , which is an integer, represents the number of rotations of the gripper until it reaches the target.…”

Section: (5)mentioning

confidence: 99%

“…For example, the motion control of a crane system [7], the kendama (Japanese ball-in-cup game) robot system[S] were investigated. As for throwing motion planning, the kendama robot system is similar to our casting manipulator system.…”

Section: Introduction 2 Casting Manipulationmentioning

confidence: 99%

Posture control of casting manipulation

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

Komoriya²

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.

“…Researches dealing with a string in the mechanism are the motion control of a crane system [8] and kendama (Japanese ball-in-cup game) robot system [9]. We propose a new motion control method which fruits, for example.…”

Section: Introductionmentioning

confidence: 99%

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

Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)

Kotoku

Komoriya

We have been developing a casting manipulator which includes aflexible string in the link mechanism in order to enlarge the work space of the manipulator. Like the casting motion of fry fishing, the necessary motion of the gripper, which is attached at the end of the string, is generated by swinging a rigid link The gripper is thrown to the target by releasing the string at the suitable time. In this paper we deal with the basic swing motion control of the casting manipulator. We describe a method of oscillating the casting manipulator by considering it as a two-degrees-offreedom non-holonomic system By planning a timeperiodic reference for the second joint while controlling the jirst joint, the desired swing motion of the system can be generated. The method was evaluated by comparing the results of numerical simulation and those of experiments using the casting manipulator hardware.