Optimization of throwing accuracy for multiple landing points with identification of dynamic parameters of throwing robot based on sensitivity analysis

Abstract

It is effective to move objects by throwing since it can transport the objects in wide area with short time. To realize an appropriate throwing, the throwing accuracy should be high for practical applications. In this paper, by using sensitivity analysis, the minimum set of dynamic parameters of 3-DOF throwing manipulator is optimized and optimal feedforward torque is obtained. Focusing on a planar 3-DOF manipulator, the mininuim set of dynamic parameters is regarded as a stochastic variable. By using sensitivity analysis, the parameters are identified so that it has pre-defined covariance which satisfies high of landing points. By the experiments,the effectiveness of the proposed method is evaluated.