Robust throwing design based on dynamic sensitivity analysis

Throwing an object by a powered robotic system is an effective way for object manipulation in long distance. The focus of the throwing is on the accuracy of the landing point with respect to model uncertainties or disturbances. A robust controller is often designed, however, the motion will be finis...

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Autores principales:	Masafumi OKADA, Shota ONIWA, Wataru HIJIKATA
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2018
Materias:	sensitivity analysis throwing motion robust motion design motion optimization Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/c53b8f23efd349779d308a2805044599
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id	oai:doaj.org-article:c53b8f23efd349779d308a2805044599
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spelling	oai:doaj.org-article:c53b8f23efd349779d308a28050445992021-11-26T07:14:14ZRobust throwing design based on dynamic sensitivity analysis2187-974510.1299/mej.17-00442https://doaj.org/article/c53b8f23efd349779d308a28050445992018-01-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/5/1/5_17-00442/_pdf/-char/enhttps://doaj.org/toc/2187-9745Throwing an object by a powered robotic system is an effective way for object manipulation in long distance. The focus of the throwing is on the accuracy of the landing point with respect to model uncertainties or disturbances. A robust controller is often designed, however, the motion will be finished before the controller produces its effects because throwing is fast and highly dynamic. Moreover, the robot system sometimes has zero adjustment error in the initial position on its joint angle. This error cannot be overcome by a robust controller. So far, we have proposed a dynamic sensitivity analysis method of throwing for a feed-forward controlled manipulator. The sensitivity of the landing point with respect to zero adjustment error has been calculated, and robust throwing with small sensitivity has been designed. In this paper, the conventional method is applied to a feed-forward/back controlled manipulator in the real world, and evaluations are executed by using a prototyped three-link manipulator. The effectiveness of the proposed method is evaluated based on the sensitivity and variance of the landing point, and a robust throwing with small sensitivity is designed.Masafumi OKADAShota ONIWAWataru HIJIKATAThe Japan Society of Mechanical Engineersarticlesensitivity analysisthrowing motionrobust motion designmotion optimizationMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 5, Iss 1, Pp 17-00442-17-00442 (2018)
institution	DOAJ
collection	DOAJ
language	EN
topic	sensitivity analysis throwing motion robust motion design motion optimization Mechanical engineering and machinery TJ1-1570
spellingShingle	sensitivity analysis throwing motion robust motion design motion optimization Mechanical engineering and machinery TJ1-1570 Masafumi OKADA Shota ONIWA Wataru HIJIKATA Robust throwing design based on dynamic sensitivity analysis
description	Throwing an object by a powered robotic system is an effective way for object manipulation in long distance. The focus of the throwing is on the accuracy of the landing point with respect to model uncertainties or disturbances. A robust controller is often designed, however, the motion will be finished before the controller produces its effects because throwing is fast and highly dynamic. Moreover, the robot system sometimes has zero adjustment error in the initial position on its joint angle. This error cannot be overcome by a robust controller. So far, we have proposed a dynamic sensitivity analysis method of throwing for a feed-forward controlled manipulator. The sensitivity of the landing point with respect to zero adjustment error has been calculated, and robust throwing with small sensitivity has been designed. In this paper, the conventional method is applied to a feed-forward/back controlled manipulator in the real world, and evaluations are executed by using a prototyped three-link manipulator. The effectiveness of the proposed method is evaluated based on the sensitivity and variance of the landing point, and a robust throwing with small sensitivity is designed.
format	article
author	Masafumi OKADA Shota ONIWA Wataru HIJIKATA
author_facet	Masafumi OKADA Shota ONIWA Wataru HIJIKATA
author_sort	Masafumi OKADA
title	Robust throwing design based on dynamic sensitivity analysis
title_short	Robust throwing design based on dynamic sensitivity analysis
title_full	Robust throwing design based on dynamic sensitivity analysis
title_fullStr	Robust throwing design based on dynamic sensitivity analysis
title_full_unstemmed	Robust throwing design based on dynamic sensitivity analysis
title_sort	robust throwing design based on dynamic sensitivity analysis
publisher	The Japan Society of Mechanical Engineers
publishDate	2018
url	https://doaj.org/article/c53b8f23efd349779d308a2805044599
work_keys_str_mv	AT masafumiokada robustthrowingdesignbasedondynamicsensitivityanalysis AT shotaoniwa robustthrowingdesignbasedondynamicsensitivityanalysis AT wataruhijikata robustthrowingdesignbasedondynamicsensitivityanalysis
_version_	1718409743731523584

Robust throwing design based on dynamic sensitivity analysis

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