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Swing motion control of casting manipulation

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3 Author(s)
Arisumi, H. ; Dept. of Robotics, Mech. Eng. Lab., Ibaraki, Japan ; Kotoku, T. ; Komoriya, K.

We begin by describing the process of casting manipulation and discussing the swing motion phase. We propose a method of generating the desired swing motion by keeping the string taut from the initial state when the links are hung. We investigate a method for choosing feedback gain using an off-line simulation chart. The method is evaluated by numerical experiments and shown to be effective. We constructed a two-link casting manipulator and conducted an experiment in swing motion control. The experimental results show that the proposed method of swing motion control was effective

Published in:

Control Systems, IEEE  (Volume:19 ,  Issue: 4 )