Motion Control Of A Ball Throwing Robot With A Flexible Robotic Arm

摘要

Motion control of flexible arms is more difficult than<br> that of rigid arms, however utilizing its dynamics enables improved<br> performance such as a fast motion in short operation time. This paper<br> investigates a ball throwing robot with one rigid link and one flexible<br> link. This robot throws a ball at a set speed with a proper control torque.<br> A mathematical model of this ball throwing robot is derived through<br> Hamilton’s principle. Several patterns of torque input are designed and<br> tested through the proposed simulation models. The parameters of<br> each torque input pattern is optimized and determined by chaos<br> embedded vector evaluated particle swarm optimization (CEVEPSO).<br> Then, the residual vibration of the manipulator after throwing is<br> suppressed with input shaping technique. Finally, a real experiment is<br> set up for the model checking.