Throwing motion control based on output zeroing utilizing 2-link underactuated arm

Proceedings of the American Control Conference

Volumn , Issue , 2009, Pages 3057-3064

  Katsumata, Shunsuke ^a   Ichinose, Shigenori ^a   Shoji, Takuya ^a   Nakaura, Shigeki ^a   Sampei, Mitsuji ^a  

^a TOKYO INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL METHODS; CONTROL STRATEGIES; ELBOW JOINTS; ENERGY EFFICIENT; OUTPUT ZEROING; PHYSICAL CONSTRAINTS; THROWING MOTION; TWO-LINK; UNDERACTUATED; UNDERACTUATED MANIPULATOR;

CONTROL THEORY; ENERGY EFFICIENCY; ENERGY TRANSFER; MANIPULATORS; MOTION PLANNING; SIMULATORS;

MOTION CONTROL;

EID: 70449657100     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ACC.2009.5160379     Document Type: Conference Paper

References (10)

1. Ellen Kreighbaum, Katharine M. Barthels, BIOMECHANICS: A Qualitative Approach for Studying Human Movement, Benjamin-Cummings Pub Co, 1996.
2. Chunquan Xu, Aiuo Ming, Makoto Shimojo, "Optimal Trajectory Generation for Manipulator with Strong Nonlinear Constraints and Multiple Boundary Conditions", IEEE Int. Conf. on Robotics and Biomimetics, 2004, pp.192-197.
3. Chunquan Xu, Takeharu Nagaoka, Aiguo Ming, Makoto Shimojo, "Motion Control of Golf Swing Robot Based on Target Dynamics", IEEE Int. Conf. on Intelligent Robots and Systems, 2006, pp.2545-2550.
4. Masafumi Okada, Shigeki Ban, Yoshihiko Nakamura, "Skill of Compliance with Controlled Charging/Discharging of Kinetic Energy", IEEE Int. Conf. on Robotics and Automation, vol.3, 2002, pp.2455-2460.
5. Senoo T., Namiki A., Ishikawa M., "High-speed batting using a multijointed manipulator", IEEE Int. Conf. on Robotics and Automation, vol.2, 2004, pp.1191-1196.
6. Hitoshi Arisumi, Tetuo Kotoku, Kiyoshi Komoriya, "A Study of Casting Manipulation(Swing Motion Control and Planning Throwing Motion)", IEEE Int. Conf. on Intelligent Robots and Systems, vol.1, 1997, pp.168-174.
7. Kato N.,Matsuda K.,Nakamura T., "Adaptive Control for a Throwing Motion of a 2 DOF Robot", Int. Workshop on Advanced Motion Control, vol.1, 1996, pp.203-207.
8. Minor M.A., Jensen K., Youngshik Kim, "Design and control of a three-link serial manipulator for lessons in particle dynamics", IEEE Int. Conf. on Robotics and Automation, vol.4, 2002, pp.3435-3441.
9. Taku Senoo, Akio Namiki, Masatoshi Ishikawa, "High-speed Throwing Motion Based on Wave Propagation", JSME Conf. on Robotics and Mechatronics(in Japanese), 2007.
10. Alberto Isidori, Nonlinear Control Systems, Springer 1995.