NDLI: Rapid Transport of Suspended Payloads

Content Provider	IEEE Xplore Digital Library
Author	Starr, G. Wood, J. Lumia, R.
Copyright Year	2005
Description	Author affiliation: Department of Mechanical Engineering The University of New Mexico Albuquerque, New Mexico 87131, USA starr@me.unm.edu (Starr, G.)
Abstract	The topic of composing inputs for systems with mechanical flexibility has received attention for many years. Two popular methods are (1) shaping a nominal trajectory by convolution with an impulse sequence which itself cancels the flexibility, and (2) trajectory parameter optimization using structured basis functions, e.g. bang-coast-bang. However, each of these methods deteriorates in a different way when the motion is rapid compared to the natural period of the flexibility. Motions synthesized using dynamic programming offer clear advantages in these situations: (1) the resulting motions are smoother than those using impulse-convolution, and (2) dynamic programming is deterministic and does not rely on a convex objective function like gradient-based parameter optimization. Examples of the shortcomings of impulse-convolution and parameter-optimization will be shown; then we present both simulation and experimental evaluation of rapid transport of a suspended object using a robot manipulator and a minimum-energy trajectory obtained by dynamic programming.
Starting Page	1394
Ending Page	1399
File Size	262563
Page Count	6
File Format	PDF
ISBN	078038914X
DOI	10.1109/ROBOT.2005.1570310
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Payloads Optimization methods Dynamic programming Robots Convolution Cranes Mechanical engineering Manipulator dynamics Feedback loop Strips trajectory vibration transport flexible
Content Type	Text
Resource Type	Article

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