Optimal ball pitching with an underactuated model of a human arm
2010 (English)Conference paper (Refereed)
A new approach for solving an optimal motion planning problem for a simplified 2-degrees-of-freedom model of a human arm is proposed. The motion of interest resembles ball pitching. The model of a planar two-link robot is used with actuation only at the shoulder joint and a passive spring at the elbow joint representing the stiffness of the arm. The goal is formulated as finding a trajectory and the associated torque of the active joint that maximizes the velocity of the end effector in horizontal direction at the moment of crossing a vertical ball-release line. The basic idea is to search for an optimal motion parametrized by the horizontal displacement of the end-effector from the start point to the release point. The suggested procedure leads to analytical expressions for the coefficients of a nonlinear differential equation that governs the geometric relation between the links along an optimal motion. The motion planning task is reformulated to a finite-dimensional search for the corresponding initial conditions.
Place, publisher, year, edition, pages
New York: IEEE , 2010. 5009-5014 p.
, Proceedings / IEEE international conference on robotics and automation, ISSN 1050-4729
Underactuated Mechanical Systems, Optimal Control, Motion Planning
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject Automatic Control
IdentifiersURN: urn:nbn:se:umu:diva-30251DOI: 10.1109/ROBOT.2010.5509879ISI: 000284150004153ISBN: 978-1-4244-5038-1OAI: oai:DiVA.org:umu-30251DiVA: diva2:281187
ICRA 2010, Anchorage, USA, May 2010