Learning control method for throwing an object more accurately with one degree of freedom robot

Miyashita, Hideyuki; Yamawaki, Tasuku; Yashima, M.

doi:10.1109/aim.2010.5695807

Cited by 4 publications

(2 citation statements)

References 11 publications

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“…( ii ) Actuator's Torque-Velocity Limitṡ θ min <θ(t) <θ max (8) τ min < τ(t) < τ max (9) τ max = ξ(θ max ) (10) whereθ max ,θ min and τ max , τ min are the maximum and minimum of velocity and torque of an actuator, respectively. Equation (10) shows the relationship between the maximum torque and maximum velocity of an actuator, which is determined by the actuator's operation range, as shown in Fig. 3.…”

Section: 2 Arm Constraintsmentioning

confidence: 99%

Parts Assembly and Sorting by Throwing Manipulation: Planning and Control

Miyashita

Yamawaki

Yashima

2011

JSDD

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This paper presents optimal trajectory planning and iterative learning control for a throwing manipulation which can control not only the position but also the orientation of a polygonal object robustly to uncertainties by low-degree-of-freedom robotic arm. We show experimentally the validity of the proposed method with the one-joint robotic arm. We also demonstrate the usefulness of the throwing manipulation by applying it to the parts assembly and sorting on experiments.

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Section: 2 Arm Constraintsmentioning

confidence: 99%

Parts Assembly and Sorting by Throwing Manipulation: Planning and Control

Miyashita

Yamawaki

Yashima

2011

JSDD

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“…For performance (ii), Arisumi (Arisumi and Komoriya, 2002) has proposed a control method of the object using tension control of a tether connected to the object. Miyashita (Miyashita et al, 2010) has proposed a learning method of throwing. These methods are effective for high accuracy of the landing point of the object, however, the tether restricts the motion and the learning requires many time trials.…”

Section: Introductionmentioning

confidence: 99%

Throwing motion design based on minimum sensitivity with respect to error covariance of robot dynamic parameters

Okada

Sekiguchi

2021

Mechanical Engineering Journal

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Throwing by a powered manipulator is an effective way for wide range transportation of an object and carrying an object in unmanned environments. The main problems of throwing are (i) how far the manipulator can throw the object and (ii) the accuracy of the landing position. Focusing on (ii), this paper proposes sensitivity analysis of the landing position with respect to the error covariance of dynamic parameters. Focusing on a planar 3-DOF manipulator, (1) the minimum set of dynamic parameters is introduced and identified based on a frequency weighted method for a nonlinear system, and its error covariance is also identified. (2) The calculation algorithm for sensitivity of landing position with respect to the minimum set of dynamic parameters is proposed. (3) By considering the error covariance of identification, an optimal throwing is designed and evaluated by simulations and/or experiments. Moreover, (4) the principal of sensitivity analysis is discussed from error ellipsoid point of view, and zero error throwing is designed.

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