1-DOF-robot for fast and accurate throwing of objects

Frank, Heinz; Mittnacht, A.; Moschinsky, Thomas; Kupzog, F.

doi:10.1109/etfa.2009.5347013

Cited by 5 publications

(3 citation statements)

References 9 publications

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“…al. in [5], used a rigid rotary system to throw the objects. A rotary electric motor is connected to the rigid arm with a specific length (which is determined based on the desired final velocity) and the mass is located at the end of the arm.…”

Section: Introductionmentioning

confidence: 99%

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Optimal passive dynamics for physical interaction: Throwing a mass

Vejdani

Hurst

2013

2013 IEEE International Conference on Robotics and Automation

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The passive dynamics of actuators may impose serious limitations to the performance of a system. Existence of inertia for example makes it impossible for the actuators to react immediately. A throwing mechanism (with electric motors) is composed of two inertias (object and motor) that decreases the performance of the system and can not be overcome with software control. But, we can use other elements (like a spring) to make the motor inertia a benefit to improve the performance of the system. Moreover, when the object is directly connected to the motor, the maximum velocity that the object can achieve is limited to the maximum velocity that can be provided by the motor. Previous research shows that passive dynamics is not always harmful, and can increase the performance of a mechanism. Here, we will extract mathematical formula that gives us the required optimum value for stiffness and/or damping of the system to give us the optimal performance given physical limitations.

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Section: Introductionmentioning

confidence: 99%

“…Other researchers have used the subject of throwing for robot's arms [1] [2], hopping [3] or as a new method for transportation of objects [4] [5].…”

Section: Introductionmentioning

confidence: 99%

Optimal passive dynamics for physical interaction: Throwing a mass

Vejdani

Hurst

2013

2013 IEEE International Conference on Robotics and Automation

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“…They discussed various simple throwing and shooting mechanisms and their applications in {a.pekarovskiy, mb}@tum.de logistic chains. A 1-DoF rotational robot capable of throwing a ball up to 8 m with high precision was discussed in [5]. A throwing model with simple kinematics including an air drag influence was presented in [6].…”

Section: Introductionmentioning

confidence: 99%

Optimal control goal manifolds for planar nonprehensile throwing

Pekarovskiy

Buss

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper presents a throwing motion planner based on a goal manifold for two-point boundary value problem. The article outlines algorithmic and geometric issues for planar throwing of rigid objects with a nonprehensile end-effector. Special attention is paid to the challenge of controlling a desired 6-dimensional state of the object with a planar 3-DoF robot. Modeling of the contacts is discussed using a state vector of the coupled robot and object dynamics. Robustness against uncertainty due to varying model parameters such as object inertia and friction between the end-effector and the object is investigated. An approach for obtaining manifolds of terminal constraints from the goal configuration is described. Classification of these constraints is given. Finally, feasible trajectory generation conditions for successful execution of the generated optimal controls are discussed.

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A bioinspired 2-DOF throwing robot

Frank

Mittnacht

et al. 2011

IEEE Africon '11

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1-DOF-robot for fast and accurate throwing of objects

Cited by 5 publications

References 9 publications

Optimal passive dynamics for physical interaction: Throwing a mass

Optimal passive dynamics for physical interaction: Throwing a mass

Optimal control goal manifolds for planar nonprehensile throwing

A bioinspired 2-DOF throwing robot

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