By Topic

Catching motion of casting manipulation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
H. Arisumi ; Mech. Eng. Lab., MITI, Ibaraki, Japan ; K. Komoriya

We have been developing a casting manipulator which includes a flexible arm made out of soft material like a string in the link mechanism to enlarge the work space of the manipulator. In casting manipulation, a gripper is thrown to its target by releasing the string at a suitable time after generating enough motion of the gripper by swinging. In this paper we deal with the catching motion control of the gripper. We consider the necessity of the midair control of the gripper for catching a target. In order to enlarge the reachable area of the gripper, we propose the method of controlling the movement of the string by the brake mechanism. We confirmed the effectiveness of the proposed multiple braking control by simulation results and experimental results

Published in:

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on  (Volume:3 )

Date of Conference:

2000