Motion generation for hyper dynamic manipulation

Xu, Chao; Ming, Aigou; Maruyama, T.; Shimojo, Makoto

doi:10.1016/j.mechatronics.2007.05.002

Cited by 14 publications

(13 citation statements)

References 20 publications

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“…Figure 3(a) shows that the evolution of angular positions of both shoulder joint and wrist joint respect the boundary conditions and satisfy the kinematic conditions given by Eqs. (1) and (2). Figure 3(c) shows that active torques of joint 1 and joint 2 respect the physical conditions of motors.…”

Section: Minimizing Total Consumed Work and Satisfy The Boundary Condmentioning

confidence: 94%

“…As case study, we use a golf swing robot, consisting with two actuated joint and a mechanical stoppers, which has been developed by Ming et al [2]. The motion of this robot is considered as an extension of hyper dynamic manipulation.…”

Section: Introductionmentioning

confidence: 99%

“…For these reasons, other researchers are centralized on how to determine the whole torque necessary to reflect the golfer arm's movement. Hence, that allowed realizing hyper dynamic manipulation with smart and versatile robot using unique mechanism design and control methods [1], [2], [6], [7], [8].…”

Section: Introductionmentioning

confidence: 99%

“…That is, the power/torque can be transferred from the body to the end of arm during hyper dynamic manipulation [2]. This torque is called dynamic coupled driving.…”

Section: Introductionmentioning

confidence: 99%

“…To validate this inspiration, the golf swing robot, considered in this study, consists of two joints, shoulder joint with powerful direct drive motor and wrist joint with a small direct drive motor [2]. The second joint is limited by mechanical stoppers in order to reproduce the human's wrist function.…”

Section: Introductionmentioning

confidence: 99%

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Optimizing Motion Planning for Hyper Dynamic Manipulator

Aboura¹,

Omari²

2012

Journal of Electrical Engineering

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This paper investigates the optimal motion planning for an hyper dynamic manipulator. As case study, we consider a golf swing robot which is consisting with two actuated joint and a mechanical stoppers. Genetic Algorithm (GA) technique is proposed to solve the optimal golf swing motion which is generated by Fourier series approximation. The objective function for GA approach is to minimizing the intermediate and final state, minimizing the robot's energy consummation and maximizing the robot's speed. Obtained simulation results show the effectiveness of the proposed scheme.

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Section: Minimizing Total Consumed Work and Satisfy The Boundary Condmentioning

confidence: 94%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

“…That is, the power/torque can be transferred from the body to the end of arm during hyper dynamic manipulation [2]. This torque is called dynamic coupled driving.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations