Optimal Cyclic Vertical Juggling Using 1-DoF Arm

被引：0
|
作者：
Akbarimajd, Adel [1 ]
机构：
[1] Univ Mohaghegh Ardabili, Dept Engn, Ardebil, Iran
来源：
2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4 | 2009年
关键词：
MANIPULATION; PARTS;
D O I：
10.1109/ROBIO.2009.5420760
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Manipulation by juggling of an object by a 1-DoF prismatic arm is studied. The manipulation task is decomposed into two phases: accelerating phase and decelerating phas. The manipulation task is modeled as an optimization problem in order to get maximum flight while having minimum impact at catch time. The optimization problem is solved using sequential quadratic programming method and the results are verified by simulations in ADAMS.
引用
收藏
页码：1411 / 1415
页数：5
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