Swing-free movement of simply suspended objects employing parameter estimation

Conference · Sat Dec 31 23:00:00 EST 1988

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
• Country of Publication: United States
• Language: English

Related Subjects

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