DocumentCode :
2620024
Title :
Friction Independent Dynamic Capturing Strategy for a 2D Stick-shaped Object
Author :
Higashimori, Mitsuru ; Kimura, Maiko ; Ishii, Idaku ; Kaneko, Makoto
Author_Institution :
Dept. of Mech. Eng., Osaka Univ., Suita
fYear :
2007
fDate :
10-14 April 2007
Firstpage :
217
Lastpage :
224
Abstract :
This paper proposes dynamic capturing strategies where a 2D stick-shaped object with both translational and rotational velocities is completely stopped by two robotic fingers. We first show the fingertip position and the object orientation for generating a desired velocity of the object under the friction independent collision. Once the object results in a pure translational motion whose direction is perpendicular to the longitudinal axis of object, it is guaranteed that two fingers can always capture the object irrespective of friction coefficient. By using this nature, we show both 2-step and 3-step capturing strategies for a 2D stick-shaped object whose width is negligibly small. The 3-step capturing strategy can guide the object in an arbitrary direction, while the 2-step one can do it only in a particular direction. The 3-step capturing strategy is demonstrated by experiment for verifying our idea.
Keywords :
dexterous manipulators; position control; 2D stick-shaped object; fingertip position; friction independent collision; friction independent dynamic capturing; robotic fingers; rotational velocity; translational velocity; Fingers; Friction; Mechanical engineering; Robot sensing systems; Robotics and automation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
ISSN :
1050-4729
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2007.363790
Filename :
4209095
Link To Document :
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