Title :
Manipulation by juggling of planar polygonal objects using two 3-DOF manipulators
Author :
Akbarimajd, Adel ; Ahmadabadi, Majid Nili
Author_Institution :
Univ. of Tehran, Tehran
Abstract :
Dynamic object manipulation of planar polygonal objects using two 3-DOF planar manipulators is studied. The object rests on the palm of a manipulator and the manipulator throws the object into kinematical workspace of the other one. The second manipulator catches the object and carries it into the goal configuration. Manipulation task is modeled and dynamic grasp condition is obtained for the instances that the manipulators carry the object on their palms. In addition, a manipulation planning strategy is devised. The planning strategy uses time of free flight as a free parameter to determine the throw and catch states. Proposed manipulation method is verified by a set of simulations in ADAMS+ SIMULINK.
Keywords :
manipulator dynamics; manipulator kinematics; path planning; 3-DOF manipulators; dynamic grasp condition; dynamic object manipulation; free flight phase; kinematical workspace; manipulation planning strategy; planar polygonal object juggling; throwing phase; Angular velocity; Arm; Artificial intelligence; Computational geometry; Controllability; Intelligent control; Intelligent robots; Manipulator dynamics; Process control; Strategic planning; Dynamic object manipulation; Juggling; Multirobot object manipulation; Nonprehensile Manipulation;
Conference_Titel :
Advanced intelligent mechatronics, 2007 IEEE/ASME international conference on
Conference_Location :
Zurich
Print_ISBN :
978-1-4244-1263-1
Electronic_ISBN :
978-1-4244-1264-8
DOI :
10.1109/AIM.2007.4412559
