2C33 Motion Control and Optimization of a Ball Throwing Robot with a Flexible Arm(The 12th International Conference on Motion and Vibration Control)

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  • GAI Yizhi
    Division of Human Mechanical Systems and Design, Graduated School of Engineering, Hokkaido University
  • KOBAYASHI Yukinori
    Division of Human Mechanical Systems and Design, Graduated School of Engineering, Hokkaido University
  • EMARU Takanori
    Division of Human Mechanical Systems and Design, Graduated School of Engineering, Hokkaido University

Abstract

Motion control of flexible arms is more difficult than that of rigid arms. However utilizing its dynamics enables improved performance such as a fast motion in short operation time. This paper investigates a ball throwing robot with one flexible link. This robot throws a ball at a set speed. A mathematical model of this ball throwing robot is derived through Hamilton's principle. The sinusoidal patterns of torque input and structure are designed through the proposed simulation models. The parameters of each torque input pattern and flexible structure are optimized and determined by chaos embedded vector evaluated particle swarm optimization (CEVEPSO). Finally, the residual vibration of the manipulator after throwing is suppressed with input shaping technique.

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