Parts Assembly and Sorting by Throwing Manipulation: Planning and Control

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概要

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• This paper presents optimal trajectory planning and iterative learning control for a throwing manipulation which can control not only the position but also the orientation of a polygonal object robustly to uncertainties by low-degree-of-freedom robotic arm. We show experimentally the validity of the proposed method with the one-joint robotic arm. We also demonstrate the usefulness of the throwing manipulation by applying it to the parts assembly and sorting on experiments.

著者

• MIYASHITA Hideyuki

  Dept. of Mechanical Systems Engineering, National Defense Academy of Japan

• YAMAWAKI Tasuku

  Dept. of Mechanical Systems Engineering, National Defense Academy of Japan

• YASHIMA Masahito

  Dept. of Mechanical Systems Engineering, National Defense Academy of Japan

関連論文

• Parts Assembly and Sorting by Throwing Manipulation: Planning and Control

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