A study of casting manipulation (swing motion control and planning of throwing motion)
A study of casting manipulation (swing motion control and planning of throwing motion)
复制标题
抛投操纵研究（摆动运动控制和投掷运动规划）
DOI：
10.1109/iros.1997.649040
复制
发表时间：
1997
期刊：
影响因子：
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通讯作者：
K. Komoriya
中科院分区：
文献类型：
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作者：
Hitoshi Arisumi;T. Kotoku;K. Komoriya
我们提出了一种新型机械手，即铸造机械手，它在连杆机构中包括柔性部件，例如绳子。绳子的末端附有一个夹具。为了让夹具到达目标，刚性连杆会摆动，直到产生夹具所需的运动。然后在适当的时间释放绳子，将夹具扔向目标。在本文中，我们描述了铸造机械手的操作。我们提出了一种通过将铸造机械手视为二自由度非完整系统来振荡铸造机械手的方法。首先，我们提出了一种摆动机械手进行抛投运动的方法，然后讨论了摆动运动的选择和释放绳子的时机的决定。
We propose a new type of manipulator, a casting manipulator, which includes flexible parts, such as a string, in the link mechanism. A gripper is attached at the end of the string. In order to let the gripper reach a target, the rigid link is swung until the necessary motion of the gripper is generated. The gripper is then thrown to the target by releasing the string at the suitable time. In this paper we describe the manipulation of a casting manipulator. We present a method of oscillating a casting manipulator by considering it as a two-degrees-of-freedom nonholonomic system. First, we propose a method to swing the manipulator for casting motion, and then discuss the selection of swing motion and decision of the timing for releasing the string.
论完整系统的构建
DOI：
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发表时间：
2013
期刊：
影响因子：
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作者：
根來均;他;Yoshishige Haraoka
通讯作者：
Yoshishige Haraoka