Hybrid Trajectory Generation of an Articulated Manipulator for High-speed Batting

• Senoo Taku

  Graduate School of Information Science and Technology, University of Tokyo

• Namiki Akio

  Graduate School of Information Science and Technology, University of Tokyo

• Ishikawa Masatoshi

  Graduate School of Information Science and Technology, University of Tokyo

Bibliographic Information

Other Title

• 高速打撃動作における多関節マニピュレータのハイブリッド軌道生成
• コウソク ダゲキ ドウサ ニ オケル タカンセツ マニピュレータ ノ ハイブリッド キドウ セイセイ

Abstract

Speeding up of robot motion provides not only improvement in operating efficiency but also dexterous manipulation using unstable state or non-contact state. To produce high-speed manipulation, we have developed a robot system with 1 [kHz] vision sensors. In this paper, a hybrid trajectory generator is proposed so as to get high performance out of high-speed robot system. This algorithm consists of both mechanical high-speed motion and sensor-based reactive motion to target movement. As an example of high-speed manipulation, a robotic batting task have been achieved. In addition, performance evaluation based on manipulator dynamics and system constraint is analyzed.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 24 (4), 515-522, 2006

  The Robotics Society of Japan

Keywords

• High-speed Manipulation
• Robotic Batting
• Hybrid Trajectory Generation

Details

• CRID: 1390001204725876864
• NII Article ID: 10017484686
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.24.515
• ISSN: 18847145
• ISSN: 02891824
• NDL BIB ID: 7963793
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I7963793
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed