Swing-free movement of simply suspended objects employing parameter estimation
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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