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Authors: Sergy Stepura and Joshua Dayan

Affiliation: Technion – Israel Institute of Technology, Israel

ISBN: 978-989-8565-71-6

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.

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Paper citation in several formats:
Stepura, S. and Dayan, J. (2013). Increasing Weightlifting Ability of Robotic Manipulators.In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-71-6, pages 485-490. DOI: 10.5220/0004598404850490

@conference{icinco13,
author={Sergy Stepura. and Joshua Dayan.},
title={Increasing Weightlifting Ability of Robotic Manipulators},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2013},
pages={485-490},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004598404850490},
isbn={978-989-8565-71-6},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Increasing Weightlifting Ability of Robotic Manipulators
SN - 978-989-8565-71-6
AU - Stepura, S.
AU - Dayan, J.
PY - 2013
SP - 485
EP - 490
DO - 10.5220/0004598404850490

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