Experimental analysis of the two-link manipulator in consideration of the relative motion between link and object
In this article, equations of motion of two-link manipulator are derived in consideration of characteristics of driving source. By considering for different heights of falling object, trajectories for saving energy are calculated by iterative dynamic programming method. And the dynamic characteristics of two-link system controlled based on the trajectory for saving energy are also analyzed theoretically and investigated experimentally.
manipulator trajectory dynamic programming impact force minimum energy