Inverse dynamics analysis and trajectory generation of incompletely restrained wire-suspended mechanisms

N. Yanai, Motoji Yamamoto, A. Mohri

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 Citations (Scopus)

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 languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3489-3494
Number of pages6
Volume4
DOIs
Publication statusPublished - 2001
Event2001 IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of
Duration: May 21 2001May 26 2001

Other

Other2001 IEEE International Conference on Robotics and Automation (ICRA)
CountryKorea, Republic of
CitySeoul
Period5/21/015/26/01

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering

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  • Cite this

    Yanai, N., Yamamoto, M., & Mohri, A. (2001). Inverse dynamics analysis and trajectory generation of incompletely restrained wire-suspended mechanisms. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 4, pp. 3489-3494) https://doi.org/10.1109/ROBOT.2001.933158