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

fYear

2009

fDate

10-15 Oct. 2009

Firstpage

781

Lastpage

786

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/IROS.2009.5354427

Filename

5354427