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首页> 外文会议>International conference on mechatronics technology >Motion Control of a Ball Throwing Robot with a Flexible Robotic Arm
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Motion Control of a Ball Throwing Robot with a Flexible Robotic Arm

机译：具有柔性机械臂的抛球机器人的运动控制

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摘要

Motion control of flexible arms is more difficult than that of rigid arms,however utilizing its dynamics enables improved performance such as a fast motion in short operation time.This paper investigates a ball throwing robot with one flexible link.This robot throws a ball at a set speed,and the manipulator can control the throwing direction of the ball and its release position.A mathematical model of this ball throwing robot is derived through Hamilton’s principle.Several patterns of torque input are designed and tested through the proposed simulation models.The parameters of each torque input pattern is optimized and determined by chaos embedded vector evaluated particle swarm optimization (CEVEPSO).Finally,a linear quadratic regulator (LQR) is used to suppress oscillations of the flexible arm.
机译：柔性臂的运动控制比刚性臂更困难，但是利用其动力学特性可以提高性能，例如在短操作时间内快速运动。本文研究了一种具有一个柔性连杆的投球机器人。通过汉密尔顿原理推导该投掷机器人的数学模型，并通过所提出的仿真模型设计并测试了几种扭矩输入模式。最后，采用线性二次调节器（LQR）抑制柔性臂的振动。

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  • 来源
  • 会议地点 Tianjin(CN)
  • 作者

    Yizhi Gai; Yukinori Kobayashi; Ryohei Yamakawa; Yohei Hoshino; Takanori Emaru;

  • 作者单位

    Division of Human Mechanical Systems and Design, Graduate School of Engineering,Hokkaido University, N13W8, Kita-Ku, Sapporo, Hokkaido, 060-8628, Japan;

    Division of Human Mechanical Systems and Design, Graduate School of Engineering,Hokkaido University, N13W8, Kita-Ku, Sapporo, Hokkaido, 060-8628, Japan;

    Division of Human Mechanical Systems and Design, Graduate School of Engineering,Hokkaido University, N13W8, Kita-Ku, Sapporo, Hokkaido, 060-8628, Japan;

    Division of Human Mechanical Systems and Design, Graduate School of Engineering,Hokkaido University, N13W8, Kita-Ku, Sapporo, Hokkaido, 060-8628, Japan;

    Division of Human Mechanical Systems and Design, Graduate School of Engineering,Hokkaido University, N13W8, Kita-Ku, Sapporo, Hokkaido, 060-8628, Japan;

  • 会议组织
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 TH15;
  • 关键词

    Motion control; Flexible robotic arm; CEVEPSO; Ball throwing robot;

    机译：运动控制;柔性机械臂; CEVEPSO;投球机器人;

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