Swing motion control of casting manipulation

We begin by describing the process of casting manipulation and discussing the swing motion phase. We propose a method of generating the desired swing motion by keeping the string taut from the initial state when the links are hung. We investigate a method for choosing feedback gain using an off-line...

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Bibliographic Details
Published in:IEEE Control Systems Magazine 1999-08, Vol.19 (4), p.56-64
Main Authors: Arisumi, H., Kotoku, T., Komoriya, K.
Format: Magazinearticle
Language:English
Subjects:
Casting
Computer simulation
Control systems
Energy storage
Gain
Grippers
Humans
Manipulator dynamics
Manipulators
Mathematical models
Motion control
Numerical simulation
Robots
Stability
Strings
Swing
Timing
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Summary:We begin by describing the process of casting manipulation and discussing the swing motion phase. We propose a method of generating the desired swing motion by keeping the string taut from the initial state when the links are hung. We investigate a method for choosing feedback gain using an off-line simulation chart. The method is evaluated by numerical experiments and shown to be effective. We constructed a two-link casting manipulator and conducted an experiment in swing motion control. The experimental results show that the proposed method of swing motion control was effective.
ISSN:1066-033X
0272-1708
1941-000X
DOI:10.1109/37.777789