Nothing Special   »   [go: up one dir, main page]
Skip to main content
Springer Nature Link
Log in

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

  • Original Article
  • Published:
Artificial Life and Robotics Aims and scope Submit manuscript

Abstract

In this article, equations of motion of a manipulator are derived in consideration of characteristics of driving source. By considering impact force absorption between a link and an object, trajectories for saving energy are calculated by the iterative dynamic programming method. And, the dynamic characteristics of manipulator controlled based on the trajectory for saving energy are also analyzed theoretically and investigated experimentally.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  1. Arisumi H, Yokoi H, Kotoku T et al (2002) Casting manipulation (experiments of swing and gripper throwing control). Int J JSME 45(1C):267–274

    Article  Google Scholar 

  2. Tachiya H, Urano K et al (1996) Characteristics evaluation and comparisons of robotic mechanisms. 2nd report: evaluation of robotic mechanisms subjected to impact load (in Japanese). J JSME 62(598):2395–2402

    Article  Google Scholar 

  3. Sato A, Sato O, Takahashi N et al (2006) Trajectory for saving energy of direct-drive manipulator in throwing motion. Artif Life Robot 11:61–66

    Article  Google Scholar 

  4. Sato A, Sato O, Takahashi N et al (2011) Analysis of a manipulator in relation to collision between a link and an object. Artif Life Robot 16:169–173

    Article  Google Scholar 

  5. Makoto K, Norihiko A (2002) Path following control based on dynamic parametrization for manipulator with impact (in Japanese). J JSME 68(665):132–138

    Google Scholar 

  6. Izumi T (2000) Path planning for saving energy of a manipulator in PTP motion (in Japanese). J Robot Soc Jpn 18:972–978

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Environmental Robotics, Faculty of Engineering, University of Miyazaki, 1-1 Gakuenkibanadai-Nishi, Miyazaki, 889-219, Japan

    Osamu Sato, Nobuya Takahashi & Masahiro Yokomichi

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

    Asaji Sato

Authors
  1. Osamu Sato
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Asaji Sato
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Nobuya Takahashi
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Masahiro Yokomichi
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Osamu Sato.

About this article

Cite this article

Sato, O., Sato, A., Takahashi, N. et al. Analysis of manipulator in consideration of impact absorption between link and object. Artif Life Robotics 17, 211–215 (2012). https://doi.org/10.1007/s10015-012-0042-4

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10015-012-0042-4

Keywords

Search

Navigation