Title :
Dynamic underactuated nonprehensile manipulation
Author :
Lynch, Kevin M. ; Mason, Matthew T.
Author_Institution :
Biorobotics Div., Mech. Eng. Lab., Ibaraki, Japan
Abstract :
By exploiting centrifugal and Coriolis forces, simple, low-degree-of-freedom robots can control objects with more degrees-of-freedom. For example, by allowing the object to roll and slip, a one-degree-of-freedom revolute robot can take a planar object to a full-dimensional subset of its state space. We present a dynamic manipulation planner that finds manipulator trajectories to move an object from one state to another without grasping it. The trajectories have been successfully implemented on a one-degree-of-freedom direct drive arm to perform dynamic tasks such as snatching an object from a table, rolling an object on the surface of the arm, and throwing and catching
Keywords :
manipulator dynamics; path planning; state-space methods; 1-DOF revolute robot; Coriolis force; centrifugal force; dynamic manipulation planner; dynamic underactuated nonprehensile manipulation; low-degree-of-freedom robots; manipulator trajectories; snatching; Computational geometry; Force control; Laboratories; Manipulator dynamics; Mechanical engineering; Mechanical factors; Orbital robotics; Payloads; Robot control; State-space methods;
Conference_Titel :
Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on
Conference_Location :
Osaka
Print_ISBN :
0-7803-3213-X
DOI :
10.1109/IROS.1996.571070