Throwing Manipulation by One Joint Robot(Mechanical Systems)

摘要

This paper proposes the control strategy for throwing manipulation. In throwing manipulation, the robot's motion is dynamic and quick and there is transition of contact state between the robot and an object. These make it difficult to obtain the exact model and solve its inverse problem. In addition, since the throwing manipulation requires more powerful actuator than the static manipulation, we should set the control input by taking consideration of the performance limits of the actuator. We propose the control strategy based on the iteration learning to overcome the abovementioned problems and verify its effectiveness experimentally.