Title :
Optimal cyclic vertical juggling using 1-DoF arm
Author :
Akbarimajd, Adel
Author_Institution :
Dept. of Eng., Univ. of Mohaghegh Ardabili, Ardabil, Iran
Abstract :
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 phases. 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.
Keywords :
control engineering computing; manipulators; quadratic programming; 1-DoF prismatic arm; ADAMS; accelerating phase; decelerating phases; manipulation by juggling; manipulation task; maximum flight; optimal cyclic vertical juggling; optimization problem; sequential quadratic programming; Acceleration; Arm; Biomimetics; Grasping; Legged locomotion; Manipulator dynamics; Micromechanical devices; Optimization methods; Quadratic programming; Robot kinematics;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-4774-9
Electronic_ISBN :
978-1-4244-4775-6
DOI :
10.1109/ROBIO.2009.5420760
