Swing-free movement of simply suspended objects employing parameter estimation

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Description

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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Pages: (11 p)

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Werner, J.C.; Robinett, R.D. & Petterson, B.J. June 1, 1990.

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Description

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.

Physical Description

Pages: (11 p)

Notes

NTIS, PC A02/MF A01 - OSTI; GPO Dep.

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  • Other: DE91000479
  • Report No.: SAND-89-2511
  • Grant Number: AC04-76DP00789
  • DOI: 10.2172/6806337 | External Link
  • Office of Scientific & Technical Information Report Number: 6806337
  • Archival Resource Key: ark:/67531/metadc1193169

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

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  • June 1, 1990

Added to The UNT Digital Library

  • July 2, 2018, 10:52 p.m.

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Werner, J.C.; Robinett, R.D. & Petterson, B.J. Swing-free movement of simply suspended objects employing parameter estimation, report, June 1, 1990; United States. (digital.library.unt.edu/ark:/67531/metadc1193169/: accessed November 12, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.