Title :
Motion control of a manipulator with mechanical joint stops
Author :
Kamata, Yuichi ; Ming, Aiguo ; Shimojo, Makoto
Author_Institution :
Dept. of Mech. Eng. & Intell. Syst., Univ. of Electro-Commun., Tokyo
Abstract :
A new golf swing robot to simulate human´s motion has been developed by! authors. As a characteristic of the robot, joint stops limiting range of! movement at wrist joint give strong force of constraint and contribute largely to the acceleration of a golf club. However, how to control a manipulator with joint stops for high speed motions is a problem to be solved. In this paper, a new model of joint stop with considering visco-elastic characteristics and contact force is established and the model is used for motion control. And as a method for contact control of joint stop, reflex control is introduce and applied to the process of following swing process. Experimental results show the effectiveness of the proposed methods.
Keywords :
force control; manipulators; motion control; sport; viscoelasticity; contact control; contact force; following swing process; golf swing robot; human motion simulation; manipulator; mechanical joint stops; motion control; reflex control; visco-elastic characteristics; Acceleration; Humans; Intelligent robots; Intelligent structures; Intelligent systems; Manipulator dynamics; Mechanical engineering; Motion control; Shoulder; Wrist; Contact control; Golf swing; Hyper dynamic manipulation; Joint stop; Visco-elasticity;
Conference_Titel :
Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on
Conference_Location :
Sanya
Print_ISBN :
978-1-4244-1761-2
Electronic_ISBN :
978-1-4244-1758-2
DOI :
10.1109/ROBIO.2007.4522378
