Motion Control of a Ball Throwing Robot with a Flexible Robotic Arm

机译：球投掷机器人的运动控制与灵活的机器人手臂

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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的运动控制更困难，但是利用其动态，使得能够改进的性能，例如短暂的操作时间。本文研究了一个灵活的链接的球投掷机器人。这个机器人扔一个球设定速度，操纵器可以控制球的投掷方向及其释放位置。通过汉密尔顿的原理来源于汉密尔顿的原理。通过所提出的仿真模型来设计和测试扭矩输入的扭矩输入的数学模型。参数在每个扭矩输入图案中由混沌嵌入式载体评估粒子群优化（CEVEPSO）进行优化和确定。最后，使用线性二次调节器（LQR）来抑制柔性臂的振荡。

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《International conference on mechatronics technology》|2012年||共6页
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Yizhi Gai; Yukinori Kobayashi; Ryohei Yamakawa; Yohei Hoshino; Takanori Emaru;
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中图分类 TH15;
关键词
Motion control; Flexible robotic arm; CEVEPSO; Ball throwing robot;

机译：运动控制;灵活的机器人手臂;cevepso;球投掷机器人;

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4. Motion Control of a Ball Throwing Robot with a Flexible Robotic Arm [C] . Yizhi Gai, Yukinori Kobayashi, Ryohei Yamakawa, International conference on mechatronics technology . 2012

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Motion Control of a Ball Throwing Robot with a Flexible Robotic Arm

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