{"title":"Motion Control of a Ball Throwing Robot with a Flexible Robotic Arm","authors":"Yizhi Gai, Yukinori Kobayashi, Yohei Hoshino, Takanori Emaru","volume":79,"journal":"International Journal of Computer and Information Engineering","pagesStart":937,"pagesEnd":946,"ISSN":"1307-6892","URL":"https:\/\/publications.waset.org\/pdf\/16363","abstract":"
Motion control of flexible arms is more difficult than
\r\nthat of rigid arms, however utilizing its dynamics enables improved
\r\nperformance such as a fast motion in short operation time. This paper
\r\ninvestigates a ball throwing robot with one rigid link and one flexible
\r\nlink. This robot throws a ball at a set speed with a proper control torque.
\r\nA mathematical model of this ball throwing robot is derived through
\r\nHamilton’s principle. Several patterns of torque input are designed and
\r\ntested through the proposed simulation models. The parameters of
\r\neach torque input pattern is optimized and determined by chaos
\r\nembedded vector evaluated particle swarm optimization (CEVEPSO).
\r\nThen, the residual vibration of the manipulator after throwing is
\r\nsuppressed with input shaping technique. Finally, a real experiment is
\r\nset up for the model checking.<\/p>\r\n","references":"
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