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Y. Kamiya, T. Kubo, S. Aoyagi and S. Okabe, “Control of Robotic Manipulators Using the Solutions of Repeated Direct Kinematics,” Transactions of the Japan Society of Mechanical Engineers (Series C), Vol. 59, No. 564, 1993, pp 125130.

has been cited by the following article:

• TITLE: Weightlifting Motion Generation for a Stance Robot with Repeatedly Direct Kinematics

  AUTHORS: Jining Liu, Yoshitsugu Kamiya, Hiroaki Seki, Masatoshi Hikizu

  KEYWORDS: Weightlifting, Trajectory Generation, Load Torque, Repeatedly Direct Kinematics

  JOURNAL NAME: Intelligent Control and Automation, Vol.1 No.1, August 27, 2010

  ABSTRACT: This research focuses on how to control the robot easily and how to generate the better trajectories of the robot with multiple joints to implement weightlifting motion. The purpose of this research is to develop a multijoint robot can stand up successfully with an object. This research requires the operations with two items. First, when the object is lifted up slowly, the robot could stand up as easily as possible and does not tumble down. Second, the load applied on each joint should be as small as possible. In this article, a motion control method is proposed to evaluate the variations of the load torque and rotated angle of each joint with the geometrical constraints in the procedure and find the best algorithm to generate the trajectory of a weightlifting motion by a stance robot with repeatedly direct kinematics.