Weightlifting Motion Generation for a Stance Robot with Repeatedly Direct Kinematics
ABSTRACT
This research focuses on how to control the robot easily and how to generate the better trajectories of the robot with multiple joints to implement weightlifting motion. The purpose of this research is to develop a multijoint robot can stand up successfully with an object. This research requires the operations with two items. First, when the object is lifted up slowly, the robot could stand up as easily as possible and does not tumble down. Second, the load applied on each joint should be as small as possible. In this article, a motion control method is proposed to evaluate the variations of the load torque and rotated angle of each joint with the geometrical constraints in the procedure and find the best algorithm to generate the trajectory of a weightlifting motion by a stance robot with repeatedly direct kinematics.
This research focuses on how to control the robot easily and how to generate the better trajectories of the robot with multiple joints to implement weightlifting motion. The purpose of this research is to develop a multijoint robot can stand up successfully with an object. This research requires the operations with two items. First, when the object is lifted up slowly, the robot could stand up as easily as possible and does not tumble down. Second, the load applied on each joint should be as small as possible. In this article, a motion control method is proposed to evaluate the variations of the load torque and rotated angle of each joint with the geometrical constraints in the procedure and find the best algorithm to generate the trajectory of a weightlifting motion by a stance robot with repeatedly direct kinematics.
Cite this paper
nullJ. Liu, Y. Kamiya, H. Seki and M. Hikizu, "Weightlifting Motion Generation for a Stance Robot with Repeatedly Direct Kinematics," Intelligent Control and Automation, Vol. 1 No. 1, 2010, pp. 20-27. doi: 10.4236/ica.2010.11003.
nullJ. Liu, Y. Kamiya, H. Seki and M. Hikizu, "Weightlifting Motion Generation for a Stance Robot with Repeatedly Direct Kinematics," Intelligent Control and Automation, Vol. 1 No. 1, 2010, pp. 20-27. doi: 10.4236/ica.2010.11003.
References
[1] Japan Industrial Safety and Health Association, “Investigation Research on Development of the Evaluation Criteria of the Work Load Considering Advanced Age Labourers’ Safety and HealthThe Heisei 13 fiscal year report,” Japanese, 2001. [2] N. Miyata, “Individual Human Motion Performance Index to Generate Liftup Motion,” Proceedings of the 19th Annual Conference of the Robotics Society of Japan (RSJ2001), Tokyo, 2001, pp. 721742. [3] E. Bayo and B. Paden, “On Trajectory Generation for Flexible Robots,” Journal of Robotic Systems, Vol. 4, No. 2, 1987, pp 229235. [4] L. Song, Y. Kamiya, H. Seki, S. M. Hikizu and Q. Zhang, “Solutions of Inverse Kinematics of Articulated Robot by Using Repeatedly Direct Kinematics,” Journal of the Japan Society for Precision Engineering, Vol. 67, No. 6, 2001, pp 971976. [5] R. Kamnik: “StandingUp Robot,” Journal of Medical Engineering & Technology, Vol. 28, No. 2, 2004, pp. 74 80. [6] T. Matsumaru, S. Fukuyama and T. Sato, “Model for Analysis of Weight Lifting Motion Considering the Abdominal Pressure Increased by Valsalva Maneuver,” Transactions of the Japan Society of Mechanical Engineers (Series C), Vol. 72, No. 724, 2006, pp 169176. [7] Y. Kamiya, T. Kubo, S. Aoyagi and S. Okabe, “Control of Robotic Manipulators Using the Solutions of Repeated Direct Kinematics,” Transactions of the Japan Society of Mechanical Engineers (Series C), Vol. 59, No. 564, 1993, pp 125130.
[1] Japan Industrial Safety and Health Association, “Investigation Research on Development of the Evaluation Criteria of the Work Load Considering Advanced Age Labourers’ Safety and HealthThe Heisei 13 fiscal year report,” Japanese, 2001. [2] N. Miyata, “Individual Human Motion Performance Index to Generate Liftup Motion,” Proceedings of the 19th Annual Conference of the Robotics Society of Japan (RSJ2001), Tokyo, 2001, pp. 721742. [3] E. Bayo and B. Paden, “On Trajectory Generation for Flexible Robots,” Journal of Robotic Systems, Vol. 4, No. 2, 1987, pp 229235. [4] L. Song, Y. Kamiya, H. Seki, S. M. Hikizu and Q. Zhang, “Solutions of Inverse Kinematics of Articulated Robot by Using Repeatedly Direct Kinematics,” Journal of the Japan Society for Precision Engineering, Vol. 67, No. 6, 2001, pp 971976. [5] R. Kamnik: “StandingUp Robot,” Journal of Medical Engineering & Technology, Vol. 28, No. 2, 2004, pp. 74 80. [6] T. Matsumaru, S. Fukuyama and T. Sato, “Model for Analysis of Weight Lifting Motion Considering the Abdominal Pressure Increased by Valsalva Maneuver,” Transactions of the Japan Society of Mechanical Engineers (Series C), Vol. 72, No. 724, 2006, pp 169176. [7] Y. Kamiya, T. Kubo, S. Aoyagi and S. Okabe, “Control of Robotic Manipulators Using the Solutions of Repeated Direct Kinematics,” Transactions of the Japan Society of Mechanical Engineers (Series C), Vol. 59, No. 564, 1993, pp 125130.