Bahram Tarvirdizadeh and Aghil Yousefi-Koma
Dynamic object manipulation, flexible robot manipulator, dynamical modelling, optimal control
The present study aims at the control of dynamic object manipulation through a flexible robotic arm. Capturing of the moving object from the environment and launching it to a specified position in xy-plane, with the desired velocity vector within the specified and limited time interval, is the mission of the flexible robotic manipulator in this research. The authors will not aim to focus on vibration control or trajectory tracking of the end effector of flexible manipulators; however, utilizing the flexibility of a flexible manipulator to increase velocity of the overall system is the aim of this research. Based on the designed manipulation scenario, the corresponding control problem has been formulated as a non-linear optimal control problem and has been solved numerically. An experimental test-bed was developed to verify the associated theoretical results. The advantage of the flexible robotic arm over a rigid one in dynamic object manipulation has also been illustrated.
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