Swing-free movement of simply suspended objects employing parameter estimation

Technical Report · Fri Jun 01 00:00:00 EDT 1990

DOI:https://doi.org/10.2172/6806337· OSTI ID:6806337

Werner, J C; Robinett, R D; Petterson, B J

An adaptive, swing-free trajectory planner for a gantry robot has been analytically developed and experimentally implemented on a commercial robot. A batch, nonlinear least square estimator (differential correction) is used to predict the initial conditions, mass, and frequency of the simply suspended object from a set of force sensor measurements. These parameters, in turn, are supplied to the swing-free trajectory planner to perform the maneuver. These algorithms have been implemented on a CIMCORP XR6100 gantry robot, and swing-free trajectories have been performed by the robot using the adaptive trajectory planner. 8 refs., 4 figs., 1 tab.

• Research Organization: Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
• Sponsoring Organization: DOE/ER
• DOE Contract Number: AC04-76DP00789
• OSTI ID: 6806337
• Report Number(s): SAND-89-2511; ON: DE91000479
• Country of Publication: United States
• Language: English

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