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.


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    Titel :

    Swing-free movement of simply suspended objects employing parameter estimation


    Beteiligte:
    J. C. Werner (Autor:in) / R. D. Robinett (Autor:in) / B. J. Petterson (Autor:in)

    Erscheinungsdatum :

    1990


    Format / Umfang :

    21 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




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