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Link to original content: https://doi.org/10.1007/s10015-010-0785-8
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Analysis of a manipulator in consideration of the relative motion between a tray and an object

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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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References

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Authors and Affiliations

  1. Department of Computer Science and Systems Engineering, Faculty of Engineering, University of Miyazaki, 1-1 Gakuenkibanadai-Nishi, Miyazaki, 889-2192, Japan

    Osamu Sato, Nobuya Takahashi, Akira Uekubo & Michio Kono

  2. Department of Mechanical Engineering, Miyakonojo National College of Technology, Miyakonojo, Japan

    Asaji Sato

Authors
  1. Osamu Sato
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  2. Asaji Sato
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  3. Nobuya Takahashi
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  4. Akira Uekubo
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  5. Michio Kono
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Corresponding author

Correspondence to Osamu Sato.

Additional information

This work was presented in part at the 15th International Symposium on Artificial Life and Robotics, Oita, Japan, February 4–6, 2010

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Cite this article

Sato, O., Sato, A., Takahashi, N. et al. Analysis of a manipulator in consideration of the relative motion between a tray and an object. Artif Life Robotics 15, 151–155 (2010). https://doi.org/10.1007/s10015-010-0785-8

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  • DOI: https://doi.org/10.1007/s10015-010-0785-8

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