Title :
Automated manipulation of spherical objects in three dimensions using a gimbaled air jet
Author :
Becker, Aaron ; Sandheinrich, Robert ; Bretl, Timothy
Author_Institution :
Electr. & Comput. Eng. Dept., Univ. of Illinois at Urbana-Champaign, Urbana, IL, USA
Abstract :
This paper presents a mechanism and a control strategy that enables automated non-contact manipulation of spherical objects in three dimensions using air flow, and demonstrates several tasks that can be performed with such a system. The mechanism is a 2-DOF gimbaled air jet with a variable flow rate. The control strategy is feedback linearization based on a classical fluid dynamics model with state estimates from stereo vision data. The tasks include palletizing, sorting, and ballistics. All results are verified with hardware experiments.
Keywords :
feedback; fluid dynamics; manipulator dynamics; state estimation; 2-DOF gimbaled air jet; air flow; automated noncontact manipulation; ballistics; classical fluid dynamics model; feedback linearization; palletizing; sorting; spherical objects; state estimation; stereo vision data; variable flow rate; Automatic control; Control systems; Fluid dynamics; Fluid flow control; Hardware; Linear feedback control systems; Sorting; State estimation; State feedback; Stereo vision;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354427
