Swing-free movement of simply suspended objects employing parameter estimation

Conference · Sun Jan 01 00:00:00 EST 1989

OSTI ID:7249155

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

An adaptive, swing-free trajetory 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.

• Research Organization: Sandia National Labs., Albuquerque, NM (USA)
• Sponsoring Organization: DOE/DP
• DOE Contract Number: AC04-76DP00789
• OSTI ID: 7249155
• Report Number(s): SAND-89-2511C; CONF-900559-3; ON: DE90002238
• Resource Relation: Conference: IEEE robotics and automation conference, Cincinnati, OH (USA), 13-18 May 1990
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
ROBOTS
EQUATIONS OF MOTION
COMPUTER ARCHITECTURE
EXPERT SYSTEMS
LEAST SQUARE FIT
NONLINEAR PROBLEMS
RADIOACTIVE WASTE DISPOSAL
REMOTE HANDLING EQUIPMENT
TRAJECTORIES
DIFFERENTIAL EQUATIONS
EQUATIONS
EQUIPMENT
MANAGEMENT
MATERIALS HANDLING EQUIPMENT
MAXIMUM-LIKELIHOOD FIT
NUMERICAL SOLUTION
PARTIAL DIFFERENTIAL EQUATIONS
WASTE DISPOSAL
WASTE MANAGEMENT
420200* - Engineering- Facilities
Equipment
& Techniques
990200 - Mathematics & Computers