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Analysis of a manipulator in consideration of the relative motion between a tray and an object |
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| Authors: | Osamu Sato Asaji Sato Nobuya Takahashi Akira Uekubo Michio Kono |
| Affiliation: | 1. Department of Computer Science and Systems Engineering, Faculty of Engineering, University of Miyazaki, 1-1 Gakuenkibanadai-Nishi, Miyazaki, 889-2192, Japan 2. Department of Mechanical Engineering, Miyakonojo National College of Technology, Miyakonojo, Japan |
| Abstract: | In this article, equations of motion of a manipulator, whose mechanism has a tray installed with a passive revolute joint, are derived after consideration of the characteristics of the driving source. Considering the relative motion between the tray and the object, the trajectories of the velocity for saving energy are calculated by iterative dynamic programming. Also, the dynamic characteristics of manipulator control based on the trajectory for saving energy are analyzed theoretically and investigated experimentally. |
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