Authors:
Sergy Stepura
and
Joshua Dayan
Affiliation:
Technion – Israel Institute of Technology, Israel
Keyword(s):
Open Chain Manipulator, Weightlifting, One-hand Snatch, Optimization, Minimal Energy Trajectory, Calculus of Variation, Genetic Algorithm, Line-Search, Motor Overload.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
In this position paper we concentrate on one aspect of the robot tasks, its ability to pick up and move heavy loads, far beyond the manufacturer instructions. Such expansions may apply to other tasks, as well. Three approaches to improve manipulators weightlifting ability are suggested: mimicking the Olympic weightlifter’s strategy; weightlifting along the minimal energy trajectory and overloading manipulator's motors. The analytical analysis has been worked out on a simple pendulum. Three optimization methods were compared: calculus of variation, Genetic algorithm, Line-search. Then, the results were demonstrated on a model of the Mitsubishi RV-M2 manipulator. Combination of motor overloading with minimal energy trajectory yielded increase of weightlifting capability 10 times higher than the manufacturer specs.