Generation of optimal trajectory for real system of an underactuated manipulator

Nan Luan, A. Ming, M. Kajitani
Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)  
Trajectory of an under-actuated manipulator is usually generated according to both kinematics and dynamics of the manipulator, different to that of conventional manipulator. For this reason, another important problem in trajectory generation for the real system of an under-actuated manipulator is the realizablity of trajectory. That is, the real trajectory by real system may differ greatly from the trajectory generated from the dynamics model because there always exist errors in dynamic model
more » ... in dynamic model and feedback control is less effective in under-actuated manipulator. A method for generation of optimal trajectory for real system of an under-actuated manipulator with non-holonomic constraint is proposed in this paper. By this method, dynamics model of real system can be improved by learning and optimal trajectory is generated according to the model improved sequentially. The effectiveness of the method has been confirmed by experiment with a golf swing robot. Method, implementation and experimental results of the control method are described in this paper.
doi:10.1109/robot.2001.933128 dblp:conf/icra/LuanMK01 fatcat:3p3olg3winexzgs2liwd7ntpk4