Executing optimized throwing motion on robot arm with free joint

Chyon Hae Kim*, Shigeki Sugano

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


We address the throwing motion optimization for robot. In order to pursue the best throwing motion, we may need heuristics/intuition free methods. We propose a throwing method that is composed of rapid semi-optimal motion-planning and output zeroing method. So as to execute the optimized trajectories in real rigid body systems, we need some compensations for the noises around the optimized trajectories. We introduce a compensation method for the optimized throwing motions of a robot arm with a free joint. To validate the effectiveness of the proposed method, we conducted a throwing experiment using a two-link arm. As a result of the experiment, the robot arm threw a ball with 63.7 km/h, which was the best record through the past experiments of this arm.

Original languageEnglish
Pages (from-to)1571-1578
Number of pages8
JournalAdvanced Robotics
Issue number24
Publication statusPublished - 2016 Dec 16


  • Throwing
  • dynamics
  • motion planning
  • optimization
  • passive joint

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


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