Swing motion control of casting manipulation

We begin by describing the process of casting manipulation and discussing the swing motion phase. We propose a method of generating the desired swing motion by keeping the string taut from the initial state when the links are hung. We investigate a method for choosing feedback gain using an off-line simulation chart. The method is evaluated by numerical experiments and shown to be effective. We constructed a two-link casting manipulator and conducted an experiment in swing motion control. The experimental results show that the proposed method of swing motion control was effective