Abstract
In this article, equations of motion of a manipulator are derived after consideration of the characteristics of the driving source. By considering a collision between a link and an object, and considering the active motion to absorb the kinetic energy of the object, the trajectories for saving energy are calculated by the iterative dynamic programming (IDP) method. The dynamic characteristics of manipulator control based on the trajectory for saving energy are also analyzed theoretically and investigated experimentally.
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References
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This work was presented in part at the 16th International Symposium on Artificial Life and Robotics, Oita, Japan, January 27–29, 2011
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Sato, A., Sato, O., Takahashi, N. et al. Analysis of a manipulator in relation to collision between a link and an object. Artif Life Robotics 16, 169–173 (2011). https://doi.org/10.1007/s10015-011-0911-2
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DOI: https://doi.org/10.1007/s10015-011-0911-2