Title :
Two Dimensional Dynamic Manipulation of a Disc Using Two Manipulators
Author :
Beigzadeh, Borhan ; Ahmadabadi, Majid Nili ; Meghdari, Ali
Author_Institution :
Dept. of ME, Sharif Univ. of Technol., Tehran
Abstract :
In this paper, we analyze a dynamic object manipulation (DOM) problem; throwing upward and catching a disc using two planar manipulators. The manipulators control the disc xy position dynamically and use its angular movement as a free parameter. We use a simple model for the system. Each manipulator has three links and three active joints. In addition, the disc has considerable radius and mass. Therefore, we design a simple mechanism in the palm to damp a portion of the impact
Keywords :
damping; manipulator dynamics; position control; dynamic object manipulation; planar manipulators; two dimensional dynamic manipulation; xy position control; Design automation; Force control; Grippers; Humans; Intelligent robots; Leg; Manipulator dynamics; Motion planning; Process control; Robotics and automation; Dynamic Object Manipulation; Inverse Dynamic Control; Manipulator; Nonprehensile Manipulation;
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
DOI :
10.1109/ICMA.2006.257795
