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Optimal control of a ball pitching robot
Umeå University, Faculty of Science and Technology, Department of Computing Science.
Umeå University, Faculty of Science and Technology, Department of Computing Science.
2012 (English)In: 2012 17TH INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS (MMAR), 2012, 456-456 p.Conference paper, Published paper (Refereed)
Abstract [en]

We study a two-link pitching robot, with an active gripping mechanism and aim to make it throw a ball as far as possible. The two links are connected at the elbow joint by a linear torsional spring. The gripping mechanism is able to hold a ball and release it at any specified time. The two-link pitching robot is connected to a motor shaft at the shoulder joint by a non-linear torsional spring. The shoulder joint is held fixed at the origin of the coordinate system. The configuration of the arm and the motor shaft is illustrated in Figure 1 and described by the angels q1 and qm, measured with respect to the horizontal axis, respectively, whereas q2 denote the angle change between the arm and forearm at the elbow joint.

Place, publisher, year, edition, pages
2012. 456-456 p.
Series
2012 17th International Conference on Methods and Models in Automation and Robotics, MMAR 2012
Keyword [en]
motion planning, optimal control, underactuated system
National Category
Robotics
Identifiers
URN: urn:nbn:se:umu:diva-63593DOI: 10.1109/MMAR.2012.6347845ISI: 000312660400083ISBN: 978-1-4673-2121-1 (print)ISBN: 978-1-4673-2124-2 (print)OAI: oai:DiVA.org:umu-63593DiVA: diva2:601403
Conference
17th International Conference on Methods and Models in Automation and Robotics (MMAR), AUG 27-30, 2012, Miedzyzdroje, POLAND
Available from: 2013-01-29 Created: 2013-01-03 Last updated: 2017-01-16Bibliographically approved

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Yedeg, Esubalewe LakieWadbro, Eddie
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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf