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A 1-d.o.f. Dynamic Pitching Robot That Independently Controls Velocity, Angular Velocity and Direction of a Ball

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This paper demonstrates that a 1-d.o.f. planar ball-throwing robot has the capability of controlling three kinematic variables of a ball independently: translational velocity, angular velocity and direction. The throwing motion is modeled using two underactuated contact dynamics, called a finger-link contact model and a fingertip contact model, with a unidirectional transition from one model to another. A combination of a preliminary global search method and a search algorithm based on a simulated annealing algorithm provides joint torque commands for this highly nonlinear system. An experimental system with a 1-d.o.f. planer manipulator has been developed that throws a disk (ball) in a frictionless plane. The experimental results confirm the validity of the contact models and the feasibility of independent control of the three kinematic variables.
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Keywords: CONTACT MODEL; DYNAMIC MANIPULATION; MOTION PLANNING; PITCHING

Document Type: Research Article

Affiliations: 1: Graduate School of Information Science, Nara Institute of Science and Technology, Japan 2: Graduate School of Information Science, Nara Institute of Science and Technology, Japan, Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA;, Email: jun.ueda@me.gatech.edu

Publication date: 2010-04-01

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