• DocumentCode
    1584979
  • Title

    Optimal cyclic vertical juggling using 1-DoF arm

  • Author

    Akbarimajd, Adel

  • Author_Institution
    Dept. of Eng., Univ. of Mohaghegh Ardabili, Ardabil, Iran
  • fYear
    2009
  • Firstpage
    1411
  • Lastpage
    1415
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • 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
  • Type

    conf

  • DOI
    10.1109/ROBIO.2009.5420760
  • Filename
    5420760
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1584979