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Analysis of a manipulator in relation to collision between a link and an object

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Abstract

In this article, equations of motion of a manipulator are derived after consideration of the characteristics of the driving source. By considering a collision between a link and an object, and considering the active motion to absorb the kinetic energy of the object, the trajectories for saving energy are calculated by the iterative dynamic programming (IDP) method. The dynamic characteristics of manipulator control based on the trajectory for saving energy are also analyzed theoretically and investigated experimentally.

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References

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Miyakonojo National College of Technology, 473-1 Yosio, Miyakonojo, 885-8567, Japan

    Asaji Sato

  2. Department of Computer Science and Systems Engineering, Faculty of Engineering, University of Miyazaki, Miyazaki, Japan

    Osamu Sato, Nobuya Takahashi & Masahiro Yokomichi

Authors
  1. Asaji Sato
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  2. Osamu Sato
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  3. Nobuya Takahashi
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  4. Masahiro Yokomichi
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Corresponding author

Correspondence to Asaji Sato.

Additional information

This work was presented in part at the 16th International Symposium on Artificial Life and Robotics, Oita, Japan, January 27–29, 2011

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Sato, A., Sato, O., Takahashi, N. et al. Analysis of a manipulator in relation to collision between a link and an object. Artif Life Robotics 16, 169–173 (2011). https://doi.org/10.1007/s10015-011-0911-2

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  • DOI: https://doi.org/10.1007/s10015-011-0911-2

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