Swing-free movement of simply suspended objects employing parameter estimation

Abstract

An adaptive, swing-free trajectory planner for a gantry robot has been analytically developed and experimentally implemented on a commercial robot. A batch, nonlinear least square estimator (differential correction) is used to predict the initial conditions, mass, and frequency of the simply suspended object from a set of force sensor measurements. These parameters, in turn, are supplied to the swing-free trajectory planner to perform the maneuver. These algorithms have been implemented on a CIMCORP XR6100 gantry robot, and swing-free trajectories have been performed by the robot using the adaptive trajectory planner. 8 refs., 4 figs., 1 tab.