Throwing motion generation using nonlinear optimization on a 6-degree-of-freedom robot manipulator

Ferenc Lombai, Gábor Szederkényi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

A 6-degree-of-freedom rigid robot arm and its throwing motion generation is described in this paper. The trajectories for the joint variables are generated off-line as a cubic spline obtained using general constrained nonlinear optimization, taking into consideration limitations (position, speed, acceleration and jerk) of the joint actuators, and the current limit of the whole structure. The obtained trajectories are previously checked to avoid collisions using oriented bounding boxes and their separating axis theorem tests. The trajectory tracking of the individual joint is done using a discrete-time constrained optimal control technique.

Original languageEnglish
Title of host publicationIEEE 2009 International Conference on Mechatronics, ICM 2009
DOIs
Publication statusPublished - Jul 17 2009
EventIEEE 2009 International Conference on Mechatronics, ICM 2009 - Malaga, Spain
Duration: Apr 14 2009Apr 17 2009

Publication series

NameIEEE 2009 International Conference on Mechatronics, ICM 2009

Other

OtherIEEE 2009 International Conference on Mechatronics, ICM 2009
CountrySpain
CityMalaga
Period4/14/094/17/09

    Fingerprint

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Lombai, F., & Szederkényi, G. (2009). Throwing motion generation using nonlinear optimization on a 6-degree-of-freedom robot manipulator. In IEEE 2009 International Conference on Mechatronics, ICM 2009 [4957138] (IEEE 2009 International Conference on Mechatronics, ICM 2009). https://doi.org/10.1109/ICMECH.2009.4957138