Abstract
This paper discusses an inverse dynamics problem and proposes a trajectory generation method for wire-suspended mechanisms. The wire-suspended mechanisms are classified into two types, which are completely restrained type mechanisms and incompletely restrained type mechanisms. For the incompletely restrained type mechanisms, consideration of dynamics is important, because the motion of this mechanism is governed by its dynamics and kinematics, whereas the motion of the completely restrained type mechanism is determined by only its kinematics. The current paper discusses mainly the incompletely restrained type mechanisms in the viewpoint of dynamical properties. The incompletely restrained type wire-suspended mechanism has a merit that it enables three dimensional positioning and orientating of suspended object with simple mechanism using a small number of wires. However it also has a drawback that the manipulated object is easy to swing as seen in overhead crane which is a simple incompletely restrained type mechanism. To overcome the problem, inverse dynamics for general incompletely restrained type wire-suspended mechanism is discussed, then a condition on desired trajectory of manipulated object is presented on the basis of the inverse dynamics analysis. Using the desired trajectory, an on-line trajectory modification method for the control of manually operated overhead crane is proposed.
| Original language | English |
|---|---|
| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Pages | 3489-3494 |
| Number of pages | 6 |
| Volume | 4 |
| DOIs | |
| Publication status | Published - 2001 |
| Event | 2001 IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of Duration: May 21 2001 → May 26 2001 |
Other
| Other | 2001 IEEE International Conference on Robotics and Automation (ICRA) |
|---|---|
| Country | Korea, Republic of |
| City | Seoul |
| Period | 5/21/01 → 5/26/01 |
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All Science Journal Classification (ASJC) codes
- Software
- Control and Systems Engineering
Cite this
Inverse dynamics analysis and trajectory generation of incompletely restrained wire-suspended mechanisms. / Yanai, N.; Yamamoto, Motoji; Mohri, A.
Proceedings - IEEE International Conference on Robotics and Automation. Vol. 4 2001. p. 3489-3494.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Inverse dynamics analysis and trajectory generation of incompletely restrained wire-suspended mechanisms
AU - Yanai, N.
AU - Yamamoto, Motoji
AU - Mohri, A.
PY - 2001
Y1 - 2001
N2 - This paper discusses an inverse dynamics problem and proposes a trajectory generation method for wire-suspended mechanisms. The wire-suspended mechanisms are classified into two types, which are completely restrained type mechanisms and incompletely restrained type mechanisms. For the incompletely restrained type mechanisms, consideration of dynamics is important, because the motion of this mechanism is governed by its dynamics and kinematics, whereas the motion of the completely restrained type mechanism is determined by only its kinematics. The current paper discusses mainly the incompletely restrained type mechanisms in the viewpoint of dynamical properties. The incompletely restrained type wire-suspended mechanism has a merit that it enables three dimensional positioning and orientating of suspended object with simple mechanism using a small number of wires. However it also has a drawback that the manipulated object is easy to swing as seen in overhead crane which is a simple incompletely restrained type mechanism. To overcome the problem, inverse dynamics for general incompletely restrained type wire-suspended mechanism is discussed, then a condition on desired trajectory of manipulated object is presented on the basis of the inverse dynamics analysis. Using the desired trajectory, an on-line trajectory modification method for the control of manually operated overhead crane is proposed.
AB - This paper discusses an inverse dynamics problem and proposes a trajectory generation method for wire-suspended mechanisms. The wire-suspended mechanisms are classified into two types, which are completely restrained type mechanisms and incompletely restrained type mechanisms. For the incompletely restrained type mechanisms, consideration of dynamics is important, because the motion of this mechanism is governed by its dynamics and kinematics, whereas the motion of the completely restrained type mechanism is determined by only its kinematics. The current paper discusses mainly the incompletely restrained type mechanisms in the viewpoint of dynamical properties. The incompletely restrained type wire-suspended mechanism has a merit that it enables three dimensional positioning and orientating of suspended object with simple mechanism using a small number of wires. However it also has a drawback that the manipulated object is easy to swing as seen in overhead crane which is a simple incompletely restrained type mechanism. To overcome the problem, inverse dynamics for general incompletely restrained type wire-suspended mechanism is discussed, then a condition on desired trajectory of manipulated object is presented on the basis of the inverse dynamics analysis. Using the desired trajectory, an on-line trajectory modification method for the control of manually operated overhead crane is proposed.
UR - http://www.scopus.com/inward/record.url?scp=0034867928&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0034867928&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2001.933158
DO - 10.1109/ROBOT.2001.933158
M3 - Conference contribution
AN - SCOPUS:0034867928
SN - 0780365763
VL - 4
SP - 3489
EP - 3494
BT - Proceedings - IEEE International Conference on Robotics and Automation
ER -