A 1-d.o.f. Dynamic Pitching Robot That Independently Controls Velocity, Angular Velocity and Direction of a Ball
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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Document Type: Research Article
Graduate School of Information Science, Nara Institute of Science and Technology, Japan
Graduate School of Information Science, Nara Institute of Science and Technology, Japan, Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA;, Email: firstname.lastname@example.org
Publication date: 2010-04-01