1-DOF Dynamic Pitching Robot that Independently Controls Velocity, Angular Velocity, and Direction of a Ball

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/37412

Title: 1-DOF Dynamic Pitching Robot that Independently Controls Velocity, Angular Velocity, and Direction of a Ball
Author: Mori, Wataru ; Ueda, Jun ; Ogasawara, Tsukasa
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.
Description: ©Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010 DOI: 10.1163/016918610X493679
Type: Post-print
URI: http://hdl.handle.net/1853/37412
ISSN: 0169-1864
Citation: Wataru Mori, Jun Ueda, Tsukasa Ogasawara, "1-DOF Dynamic Pitching Robot that Independently Controls Velocity, Angular Velocity, and Direction of a Ball," Advanced Robotics 24 (2010) 921–942.
Date: 2010
Contributor: Nara Institute of Science and Technology. Graduate School of Information Science
Georgia Institute of Technology. School of Mechanical Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
Brill Academic Publishers
Subject: Dynamic manipulation
Pitching
Contact model
Motion planning

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