Analysis seminar: Sergey Kolyubin
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Speaker: Sergey Kolyubin, Research Fellow, Department of Engineering Cybernetics, NTNU
Title: In Pursuit of the Optimal Trajectory for Robotic Pitcher
Abstract: We will discuss in which way the optimization can be used programming the robotic ball pitching world champion. The main challenge is planning the longest possible pitch given range, speed, and torque constraints for every joint. The original approach will be presented as a tool for trajectory generation. KUKA LWR compliant and redundant robotic arm is considered as a test bed for implementation. Finally, I will give propositions on how the results can be advanced and how you can participate there. See also the attached file for robot model.
Title: In Pursuit of the Optimal Trajectory for Robotic Pitcher
Abstract: We will discuss in which way the optimization can be used programming the robotic ball pitching world champion. The main challenge is planning the longest possible pitch given range, speed, and torque constraints for every joint. The original approach will be presented as a tool for trajectory generation. KUKA LWR compliant and redundant robotic arm is considered as a test bed for implementation. Finally, I will give propositions on how the results can be advanced and how you can participate there. See also the attached file for robot model.
06.10.2014