Optimal ball pitching with an underactuated model of a human arm

Mettin, Uwe; Shiriaev, Anton S.; Freidovich, Leonid B.; Sampei, Mitsuji

doi:10.1109/robot.2010.5509879

Cited by 15 publications

(13 citation statements)

References 5 publications

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“…Motion planning algorithms are exploited in a wide range of applications including industrial robotics, bioinformatics [6], and gaming/virtual reality [7]. The analytical approaches [8] rely heavily on analyzing the equations of motion and constraints on the system, which makes it difficult to handle new scenarios. Unfortunately, the general motion planning problem is known to be PSPACE-hard [9,10].…”

Section: Motion Planningmentioning

confidence: 99%

Smart Check 3D: An Industrial Inspection System Combining 3D Vision with Automatic Planning of Inspection Viewpoints

Carlon

Boscolo

Tonello

et al. 2015

Integrated Imaging and Vision Techniques for Industrial Inspection

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In this chapter, we describe an industrial inspection system composed by a 3D vision system, mounted on a manipulator robot arm, able to perform quality and completeness inspection on a complex solid part. The novelty of the system is in the deep integration among three software modules: the visual inspection system, the 3D simulation software, and the motion planning engine of the manipulator robot. This enables an automatic off-line programming of the robot path by specifying in the system the desired inspection tasks. The system automatically generates the needed points of view in order to perform 3D reconstruction and automatic visual inspection. Moreover, the motion planning system can reorder the inspection points in order to optimize the inspection cycle time. The core of this system was developed in the European Project "Thermobot," and currently, it is been engineered to be deployed in an industrial production plant.

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Section: Motion Planningmentioning

confidence: 99%

Smart Check 3D: An Industrial Inspection System Combining 3D Vision with Automatic Planning of Inspection Viewpoints

Carlon

Boscolo

Tonello

et al. 2015

Integrated Imaging and Vision Techniques for Industrial Inspection

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“…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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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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“…Young [1969]), so that necessary and in the best case sufficient conditions can be derived. In our previous work (Mettin et al [2010]) related to optimal ball pitching with an underactuated two-link arm, we suggested a procedure that leads to analytical expressions for a Lagrangian-type performance index whose necessary condition of optimality is a nonlinear differential equation that governs the geometric relation between the links along an optimal trajectory. Even though the motion planning task was reformulated to a finite-dimensional search for the corresponding initial conditions, numerical difficulties did not allow to solve this equation in large intervals.…”

Section: Introductionmentioning

confidence: 99%