Abstract
We have been developing a casting manipulator which includes a flexible string in the link mechanism in order to enlarge the work space of the manipulator. We proposed the swing motion control for the first step of casting manipulation. In this paper we deal with the swing motion and the throwing motion of the casting manipulation. First, we demonstrate the effectiveness of the proposed swing motion control with various swing control experiments using the casting manipulator hardware. Next, we clarify the main factors that disturb throwing motion are the time delay of releasing the gripper and frictional force which disturbs the flying motion of the gripper based on results of throwing experiments. We propose a method of compensating these factors. The evaluation by comparing the results of numerical simulation with those of experiments has shown the effectiveness of the proposed method.
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