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Analysis of manipulator in consideration of impact absorption between link and projected object

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Abstract

In this article, equations of motion of a manipulator are derived in consideration of the characteristics of DC servomotors, and a performance criterion for saving energy is defined in consideration of energy consumption of the driving source. When the manipulator is operated in a vertical plane, the system is highly non-linear due to gravity, and an analytical solution cannot be found. By considering for catching the object that moves parabolic, trajectories for saving energy are calculated by iterative dynamic programming method. And, the dynamic characteristics of two-link system controlled based on the trajectory for saving energy are analyzed theoretically. When the object moves parabolic, measurement method for the force of collision between link and object is examined by experiment.

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Authors and Affiliations

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

    Asaji Sato

  2. Department of Environmental Robotics, Faculty of Engineering, University of Miyazaki, 1-1 Gakuenkibanadai-Nishi, Miyazaki, 889-2192, 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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Correspondence to Asaji Sato.

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Sato, A., Sato, O., Takahashi, N. et al. Analysis of manipulator in consideration of impact absorption between link and projected object. Artif Life Robotics 22, 113–117 (2017). https://doi.org/10.1007/s10015-016-0313-6

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  • DOI: https://doi.org/10.1007/s10015-016-0313-6

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