Title:
1-DOF Dynamic Pitching Robot that Independently Controls Velocity, Angular Velocity, and Direction of a Ball
1-DOF Dynamic Pitching Robot that Independently Controls Velocity, Angular Velocity, and Direction of a Ball
Author(s)
Mori, Wataru
Ueda, Jun
Ogasawara, Tsukasa
Ueda, Jun
Ogasawara, Tsukasa
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Abstract
This paper demonstrates that a 1-DOF planar ball-throwing robot has the capability of controlling three kinematic variables of a ball independently: translational velocity, angular velocity, and direction. The throwingmotion ismodeled using two underactuated contact dynamics, called a finger-link contact model and a fingertip contact model, with a unidirectional transition from one model to another. A combination of a preliminary global search method and a search algorithm based on a simulated annealing (SA) algorithm provides joint torque commands for this highly nonlinear system. An experimental system with a 1-DOF planer manipulator has been developed that throws a disk (ball) in a frictionless plane. The experimental results confirm the validity of the contact models and the feasibility of independent control of the three kinematic variables.
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Date Issued
2010
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Post-print