IEEJ Journal of Industry Applications
Online ISSN : 2187-1108
Print ISSN : 2187-1094
ISSN-L : 2187-1094
Paper
Optimized Trajectory Generation based on Model Predictive Control for Turning Over Pancakes
Toshiaki TsujiKyo KutsuzawaSho Sakaino
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2018 Volume 7 Issue 1 Pages 22-28

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Abstract

This study investigates kinodynamic object manipulation by a robot using a tool. Based on the conditions for maintaining contact between a held spatula and a manipulated object, a variety of movements satisfying such conditions are planned. Model predictive control is introduced to plan an optimal trajectory. Simulation results show that the proposed method plans a variety of turning over motions with different setups of cost functions. Experimental results demonstrate that the trajectory optimization method accomplishes turning over motion, which is a typical example of motion with kinodynamic constraints.

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© 2018 The Institute of Electrical Engineers of Japan
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