並列ばね関節アームのモードに基づく励振と投球

抄録

This paper describes pitching a ball using parallel elastic joints arm. To pitch a high-speed ball, it is necessary to obtain high kinetic energy. By resonating with the spring-mass system, the arm can obtain high kinetic energy and the arm achieve high speed. On the other hand, when performing high-speed motion using a robot arm, the motion is restricted according to movable ranges. By considering the relationship between the joint limits and possible maximal speed and energy, high-speed motion can be achieved without exceeding movable ranges. We propose a method that is based on mode to obtain high speed with joint limits.