%0 Journal Article
	%A Yizhi Gai and  Yukinori Kobayashi and  Yohei Hoshino and  Takanori Emaru
	%D 2013
	%J International Journal of Computer and Information Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 79, 2013
	%T Motion Control of a Ball Throwing Robot with a Flexible Robotic Arm
	%U https://publications.waset.org/pdf/16363
	%V 79
	%X 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 rigid link and one flexible
link. This robot throws a ball at a set speed with a proper control torque.
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).
Then, the residual vibration of the manipulator after throwing is
suppressed with input shaping technique. Finally, a real experiment is
set up for the model checking.

	%P 937 - 945