Throwing motion control based on output zeroing utilizing 2-link underactuated arm

Katsumata, Shunsuke; Ichinose, Shigenori; Shoji, Takuya; Nakaura, Shigeki; Sampei, Mitsuji

doi:10.1109/acc.2009.5160379

Cited by 9 publications

(8 citation statements)

References 8 publications

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“…The mechanism of the experimental setup, which implements the assumptions in the numerical simulations is also introduced in this section. See [8] and [9] for details of the experiment.…”

Section: Methodsmentioning

confidence: 99%

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Throwing Motion Control of the Springed Pendubot

Shoji

Katsumata

Nakaura

et al. 2013

IEEE Trans. Contr. Syst. Technol.

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This brief describes a control strategy for the throwing motion of an underactuated two-link planar robot called the Pendubot. The springed Pendubot is built based on the concept of unstable zero dynamics, and our investigation uses it as a dynamic model of superior limbs to imitate human throwing motion. In the proposed control strategy, the zero dynamics is intentionally destabilized when a ball held by the end-effector is constrained on a geometric path in a vertical plane, using output zeroing control for the deviation between the ball and geometric path. The unstable zero dynamics drives the ball along the geometric path to achieve fast and accurate throw in a desired direction. The unstable zero dynamics is analytically derived to guarantee the dynamic acceleration of the ball along the geometric path. Numerical simulations and experimental results confirm the effectiveness of the proposed control strategy.

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“…The mechanism of the experimental setup, which implements the assumptions in the numerical simulations is also introduced in this section. See [8] and [9] for details of the experiment.…”

Section: Methodsmentioning

confidence: 99%

“…The physical parameters of the springed Pendubot are taken from the experimental setup and organized in Table I. See [8] and [9] for details of the experiment. …”

Section: A Geometric Path Candidatesmentioning

confidence: 99%

Throwing Motion Control of the Springed Pendubot

Shoji

Katsumata

Nakaura

et al. 2013

IEEE Trans. Contr. Syst. Technol.

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“…Nowadays there is a large number of experimental setups for studying humanlike ball-pitching motions and numerous videos and news can be easily found in the internet. For a 2-degrees-offreedom model, such as introduced above, we can find some control strategies reported in [3], [4], [6]. Detailed analysis of the throwing system, physical characteristics, and performance of a control strategy in experiments are presented in [4], where a model with constraints instead of a spring is analyzed as well.…”

Section: Introductionmentioning

confidence: 99%

“…For a 2-degrees-offreedom model, such as introduced above, we can find some control strategies reported in [3], [4], [6]. Detailed analysis of the throwing system, physical characteristics, and performance of a control strategy in experiments are presented in [4], where a model with constraints instead of a spring is analyzed as well. A deceleration control strategy is proposed in [6] based on analysis of zero dynamics.…”

Section: Introductionmentioning

confidence: 99%

Optimal ball pitching with an underactuated model of a human arm

Mettin

Shiriaev

Freidovich

et al. 2010

2010 IEEE International Conference on Robotics and Automation

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A new approach for solving an optimal control problem of ball pitching with an underactuated human-like robot arm is proposed. The system dynamics is simplified to a planar two-link robot with actuation only at the shoulder joint and a passive spring at the elbow joint representing the stiffness of the arm. The objective is to accelerate the ball from an initial configuration at rest in such a way that the projection of its velocity along a certain elevation angle is maximal at a predefined release line. The suggested procedure makes use of a parameterization of the robot motion in terms of geometric relations among the generalized coordinates. We systematically formulate a necessary condition for an optimal motion resulting in a nonlinear differential equation that describes a synchronization of the joint angles. A suitable solution is found by numerically searching over a finite number of free initial conditions.

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“…Mettin et al [4] proposed a new approach for solving an optimal control problem of ball pitching with an underactuated model of a human arm. Katsumata et al [5], Ichinose et al [6], and Shoji et al [7] claimed that the unstable zero dynamics generated dynamic acceleration of a ball when the input is devoted to constrain the ball on a geometric path via input-output linearization and output zeroing control. The major omission of the previous works, however, was the lack of zero dynamics analysis.…”

Section: Introductionmentioning

confidence: 99%

Throwing motion control of the Pendubot and instability analysis of the zero dynamics

Shoji

Sekiguchi

Sampei

2011

IEEE Conference on Decision and Control and European Control Conference

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Abstract-This paper presents systematic methods for throwing motion control of the Pendubot based on the concept of explosively unstable zero dynamics. The Pendubot, an underactuated two-link planar robot, is investigated as a dynamic model of the superior limbs for imitation of human throwing motion whose models are fundamentally underactuated in nature. The controller is designed based on input-output linearization and output zeroing control since the Pendubot is not input-state linearizable. The originality of this paper is to intentionally destabilize the zero dynamics, a nonlinear dynamics which remains unobservable from the output when the partially linearized dynamics converges exponentially to zero, to generate dynamic acceleration of the ball. Mathematical analysis of ordinary differential equations guarantees the explosive instability of the zero dynamics. Numerical simulations verify the effectiveness of the proposed control strategy.

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Throwing motion control based on output zeroing utilizing 2-link underactuated arm

Cited by 9 publications

References 8 publications

Throwing Motion Control of the Springed Pendubot

Throwing Motion Control of the Springed Pendubot

Optimal ball pitching with an underactuated model of a human arm

Throwing motion control of the Pendubot and instability analysis of the zero dynamics

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