Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 29, 2024 - June 01, 2024
This paper proposes two trajectory tracking methods for “Discretely Actuated Robotic Manipulators (D-ARMs).” A D-ARM is any member of a class of robotic manipulators powered by actuators that have only discrete positional stable states such as solenoids. One of the most significant kinematic phenomena of D-ARMs is the discreteness of both input range and end-effector frames. The proposing control methods are for two-dimensional (2D) D-ARM with desired end-effector trajectory denoted with the B´ezier curves. A k-means based clustering technique is applied to narrow the range of solution search. A series of simulation results demonstrates the advantages of each control method.
