Hybrid Trajectory Generation of an Articulated Manipulator for High-speed Batting

Abstract

Speeding up of robot motion provides not only improvement in operating efficiency but also dexterous manipulation using unstable state or non-contact state. To produce high-speed manipulation, we have developed a robot system with 1 [kHz] vision sensors. In this paper, a hybrid trajectory generator is proposed so as to get high performance out of high-speed robot system. This algorithm consists of both mechanical high-speed motion and sensor-based reactive motion to target movement. As an example of high-speed manipulation, a robotic batting task have been achieved. In addition, performance evaluation based on manipulator dynamics and system constraint is analyzed.