Open Access Open Access  Restricted Access Subscription or Fee Access

Motion Planning and Control of Hyper Dynamic Robot Arm

S. Benmansour Aboura(1*), A. Omari(2), K. Zemalache Meguenni(3)

(1) Professor in an Institute of Industrial Maintenance and Security, University of Oran, Algeria, Algeria
(2) Professor, Faculty of Electrical Engineering , University of Sciences and Technology, Oran , Algeria, Algeria
(3) Associate Professor, Faculty of Electrical Engineering, University of Sciences and Technology, Oran, Algeria, Algeria
(*) Corresponding author


DOI's assignment:
the author of the article can submit here a request for assignment of a DOI number to this resource!
Cost of the service: euros 10,00 (for a DOI)

Abstract


This paper discuses a new scheme for an optimal motion planning for golf swing robot using genetic algorithm with B-Spline Cubic Uniform approximation. This kind of manipulators has been recently developed in an attempt to simulate the high-speed swing motions of golfer. The problem is formulated as a constrained and multi-objectives optimization. The cost function is to minimizing the robot’s energy consummate and intermediate and final state errors. In order to validate the obtained trajectories, a computed torque controller combined with an optimal feedforward torque is applied to the robot. The global stability has been also proved using Lyapunov function. Simulation results show the effectiveness of the proposed schemes
Copyright © 2014 Praise Worthy Prize - All rights reserved.

Keywords


Golf Swing Robot; Motion Planning; B-Spline; Genetic Algorithm; Optimization; Computed Torque Controller

Full Text:

PDF


References


C. Chaochao, I. Yoshio, S. Kyoko, Identification of a golf swing robot using soft computing approach, Journal of Neural Computer and Application (Springer), 2010.

S.N. Sivanandam, S.N. Deepa, Introduction to Genetic Algorithms (Springer), 2008.

P. Devendra Garg, M. Kumar, Optimization Techniques Applied To Multiple Manipulators for Path Planning and Torque Minimization, International journal of Engineering Applications of Artificial Intelligence, vol. 15,n 3, 2002, pp. 241-252.

S. Pires, T. Machado, A GA Perspective of the Energy Requirement for Manipulators Manoeuvring In a Workspace with Obstacles, Congress on Evolutionary Computation. (Santiago, California, USA), July 2000, pp. 1110- 1116.

S. G. Yue, D. Henrich, X. L Xu., S.K. Toss, Point-to-Point Trajectory Planning of Flexible Redundant Robot Manipulators Using Genetic Algorithms, International Journal of Robotic, vol. 20, 2002, pp. 269-280.

C. Xu, A. Ming, T. Nagaoka, M. Shimojo, Motion Control of a Golf Swing Robot, International Journal of Robot System, vol. 56, February 2009, pp. 277-299.

C. Xu, A. Ming, T. Maruyama, M. Shimojo, Motion Generation for Hyper Dynamic Manipulation, International Journal of Robot Mechatronics, vol. 17, May 2007, pp. 405-416.

S. Suziki, H. Inooka, Golf swing robot emulating a human motion, in IEEE Procceding. International Workshop, Robot and Human Communication, 1997, pp. 28-33.

S. Suziki, H. Inooka, A New golf swing robot model emulating golfer’s skill, Sports Engineering Journal, vol. 2, 1999, pp. 13-22.

Y. Hoshino, Y. Kobayashi, G. Yamada, Vibration control using a state observer that considers disturbances of a golf swing robot, International Journal of the Japan Society of Mechanical Engineers (JSME), 2005, pp. 48-60.

C. Xu, Z. Yang, A. Ming, M. Shimojo, Motion Planning of Golf Swing Robot, In Journal of Mechtronic, Elsevier, Vol. 22, 2012, pp. 13-23.

A. Ming, T. Mita, S. Dhlamini, M. Kajitani, Motion Control Skill in Human Hyper Dynamic Manipulation –An Investigation on the Golf Swing Simulation-, IEEE transaction of. Robotics and Automation, August 2001, pp. 47-52.

A. Ming, N. Harada, M. Shimojo, M. Kajitani, Development of a Hyper Dynamic Manipulator Utilizing Joint Stops, In IEEE/ RSJ, Proceedings of Intelligent Robots and Systems, October 2003, pp. 2084-2089.

S. Aboura, A, Omari, K. Zemalache. Meguenni, Optimizing Motion Planning for Hyper dynamic Manipulation, In Electrical Engineering Journal, vol. 63, n 1,January 2012, pp. 21-27.

C. Boor, A Practical Guide to Splines, (Springer), 1978.


Refbacks

  • There are currently no refbacks.



Please send any question about this web site to info@praiseworthyprize.com
Copyright © 2005-2019 Praise Worthy Prize