Study on casting manipulation (experiment of swing control and throwing)
Study on casting manipulation (experiment of swing control and throwing)
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抛投操纵研究（摆动控制和投掷实验）
DOI：
10.1109/iros.1998.724667
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发表时间：
1998
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
我们一直在开发一种铸造机械手，它包括一个灵活的字符串在连杆机构，以扩大工作空间的机械手。就像飞蝇钓的抛投运动一样，固定在钓线末端的抓钩的必要运动是通过摆动刚性连杆产生的。通过在适当的时间释放线，将夹持器抛向目标。我们处理投掷操作的摆动运动和投掷运动。首先，我们描述了一种方法，振荡铸造机械手考虑它作为一个两个自由度的非完整系统。通过实验研究了摆动运动的产生方法。其次，我们提出了一种考虑夹持器释放时间延迟和夹持器飞行过程中摩擦力干扰的夹持器抛投规划方法。数值模拟结果与铸造机械手硬件实验结果的比较表明了所提出方法的有效性。
We have been developing a casting manipulator which includes a flexible string in the link mechanism in order to enlarge the work space of the manipulator. Like the casting motion of fly fishing, the necessary motion of the gripper, which is attached at the end of the string, is generated by swinging a rigid link. The gripper is thrown to the target by releasing the string at the suitable time. We deal with the swing motion and throwing motion of the casting manipulation. First, we describe a method of oscillating the casting manipulator by considering it as a two degrees of freedom nonholonomic system. The method of the swing motion generation is investigated through experiments. Next we propose a method of planning of throwing the gripper considering the time delay of releasing the gripper and frictional force which disturbs the flying motion of the gripper. The evaluation by comparing the results of numerical simulation with those of experiments using the casting manipulator hardware has shown the effectiveness of the proposed methods.
论完整系统的构建
DOI：
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发表时间：
2013
期刊：
影响因子：
--
作者：
根來均;他;Yoshishige Haraoka
通讯作者：
Yoshishige Haraoka