Throwing motion design based on minimum sensitivity with respect to error covariance of robot dynamic parameters

Throwing by a powered manipulator is an effective way for wide range transportation of an object and carrying an object in unmanned environments. The main problems of throwing are (i) how far the manipulator can throw the object and (ii) the accuracy of the landing position. Focusing on (ii), this p...

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Autores principales:	Masafumi OKADA, Takahiro SEKIGUCHI
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2020
Materias:	motion design sensitivity analysis minimum set of dynamic parameters error covariance frequency-weighted identification Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/9d7ef0667963400aa0daf567889001dd
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spelling	oai:doaj.org-article:9d7ef0667963400aa0daf567889001dd2021-11-29T06:04:29ZThrowing motion design based on minimum sensitivity with respect to error covariance of robot dynamic parameters2187-974510.1299/mej.20-00299https://doaj.org/article/9d7ef0667963400aa0daf567889001dd2020-11-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/8/1/8_20-00299/_pdf/-char/enhttps://doaj.org/toc/2187-9745Throwing by a powered manipulator is an effective way for wide range transportation of an object and carrying an object in unmanned environments. The main problems of throwing are (i) how far the manipulator can throw the object and (ii) the accuracy of the landing position. Focusing on (ii), this paper proposes sensitivity analysis of the landing position with respect to the error covariance of dynamic parameters. Focusing on a planar 3-DOF manipulator, (1) the minimum set of dynamic parameters is introduced and identified based on a frequency weighted method for a nonlinear system, and its error covariance is also identified. (2) The calculation algorithm for sensitivity of landing position with respect to the minimum set of dynamic parameters is proposed. (3) By considering the error covariance of identification, an optimal throwing is designed and evaluated by simulations and/or experiments. Moreover, (4) the principal of sensitivity analysis is discussed from error ellipsoid point of view, and zero error throwing is designed.Masafumi OKADATakahiro SEKIGUCHIThe Japan Society of Mechanical Engineersarticlemotion designsensitivity analysisminimum set of dynamic parameterserror covariancefrequency-weighted identificationMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 8, Iss 1, Pp 20-00299-20-00299 (2020)
institution	DOAJ
collection	DOAJ
language	EN
topic	motion design sensitivity analysis minimum set of dynamic parameters error covariance frequency-weighted identification Mechanical engineering and machinery TJ1-1570
spellingShingle	motion design sensitivity analysis minimum set of dynamic parameters error covariance frequency-weighted identification Mechanical engineering and machinery TJ1-1570 Masafumi OKADA Takahiro SEKIGUCHI Throwing motion design based on minimum sensitivity with respect to error covariance of robot dynamic parameters
description	Throwing by a powered manipulator is an effective way for wide range transportation of an object and carrying an object in unmanned environments. The main problems of throwing are (i) how far the manipulator can throw the object and (ii) the accuracy of the landing position. Focusing on (ii), this paper proposes sensitivity analysis of the landing position with respect to the error covariance of dynamic parameters. Focusing on a planar 3-DOF manipulator, (1) the minimum set of dynamic parameters is introduced and identified based on a frequency weighted method for a nonlinear system, and its error covariance is also identified. (2) The calculation algorithm for sensitivity of landing position with respect to the minimum set of dynamic parameters is proposed. (3) By considering the error covariance of identification, an optimal throwing is designed and evaluated by simulations and/or experiments. Moreover, (4) the principal of sensitivity analysis is discussed from error ellipsoid point of view, and zero error throwing is designed.
format	article
author	Masafumi OKADA Takahiro SEKIGUCHI
author_facet	Masafumi OKADA Takahiro SEKIGUCHI
author_sort	Masafumi OKADA
title	Throwing motion design based on minimum sensitivity with respect to error covariance of robot dynamic parameters
title_short	Throwing motion design based on minimum sensitivity with respect to error covariance of robot dynamic parameters
title_full	Throwing motion design based on minimum sensitivity with respect to error covariance of robot dynamic parameters
title_fullStr	Throwing motion design based on minimum sensitivity with respect to error covariance of robot dynamic parameters
title_full_unstemmed	Throwing motion design based on minimum sensitivity with respect to error covariance of robot dynamic parameters
title_sort	throwing motion design based on minimum sensitivity with respect to error covariance of robot dynamic parameters
publisher	The Japan Society of Mechanical Engineers
publishDate	2020
url	https://doaj.org/article/9d7ef0667963400aa0daf567889001dd
work_keys_str_mv	AT masafumiokada throwingmotiondesignbasedonminimumsensitivitywithrespecttoerrorcovarianceofrobotdynamicparameters AT takahirosekiguchi throwingmotiondesignbasedonminimumsensitivitywithrespecttoerrorcovarianceofrobotdynamicparameters
_version_	1718407601585127424

Throwing motion design based on minimum sensitivity with respect to error covariance of robot dynamic parameters

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