Throwing motion generation using nonlinear optimization on a 6-degree-of-freedom robot manipulator

IEEE 2009 International Conference on Mechatronics, ICM 2009

Volumn , Issue , 2009, Pages

  Lombai, Ferenc ^a   Szederkényi, Gábor ^a,b  

^a PÁZMÁNY PÉTER CATHOLIC UNIVERSITY   (Hungary)

^b INSTITUTE OF EXPERIMENTAL MEDICINE   (Hungary)

Author keywords

[No Author keywords available]

Indexed keywords

CONSTRAINED NONLINEAR OPTIMIZATION; CONSTRAINED OPTIMAL CONTROL; CUBIC SPLINE; CURRENT LIMITS; DISCRETE-TIME; JOINT ACTUATORS; NON-LINEAR OPTIMIZATION; ORIENTED BOUNDING BOX; RIGID ROBOTS; ROBOT MANIPULATOR; SEPARATING AXIS THEOREM; THROWING MOTION; TRAJECTORY TRACKING;

MECHATRONICS; ROBOT APPLICATIONS;

CONSTRAINED OPTIMIZATION;

EID: 67650302094     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICMECH.2009.4957138     Document Type: Conference Paper

References (11)

1. Werner Heisenberg. Physics and beyond; encounters and conversations, volume 42 of World perspectives. Harper & Row, New York, NY, USA, 1971. Translated from the German by Arnold J. Pomerans.
2. N. Kato, K. Matsuda, and T. Nakamura. Adaptive control for a throwing motion of a 2 DOF robot. In Proc. of the 4th International Workshop on Advanced Motion Control, AMC '96-MIE, volume 1, pages 203-207, 1996.
3. K.M. Lynch and M.T Mason. Dynamic nonprehensile manipulation: controllability, planning and experiments. International Journal of Robotics Research, 18 (1):1999, 1998.
4. S.M. LaValle. Planning Algorithms. Cambridge University Press, 2006.
5. J. E. Bobrow. Optimal robot plant planning using the minimum-time criterion. IEEE Journal of [see also IEEE Transactions on Robotics and Automation] Robotics and Automation, 4(4):443-450, August 1988.
6. L. C. T. Wang and C. C. Chen. A combined optimization method for solving the inverse kinematicsproblems of mechanical manipulators. IEEE Transactions on Robotics and Automation, 7(4):489-499, August 1991.
7. A. Gasparetto and V. Zanotto. A technique for time-jerk optimal planning of robot trajectories. Robotics and Computer-Integrated Manufacturing, 24:415-426, 2008.
8. C Smith and H.J. Christensen. Using cots to construct a high performance robot arm. In 2007 IEEE International Coriference on Robotics and Automation, pages 4056-4063, Rome, Italy, 2007.
9. John J. Craig. Introduction to robotics: mechanhics and control. Pearson Prentice Hall, Berlin, Germany, third edition, 2005.
10. S. Gottschalk, M. C. Lin, and D. Manocha. OBBTree: A hierarchical structure for rapid interference detection. Computer Graphics, 30(Annual Conference Series):I71-180, 1996.
11. S. Boyd, L. EI Ghaoui, E. Feron, and V. Balakrishnan. Linear Matrix Inequalities in Systems and Control Theory. SIAM Books, 1994.