Title :
Planning of quasi-static graspless manipulation
Author :
Maeda, Yusuke ; Aiyama, Yasumichi ; Arai, Tamio
Author_Institution :
Dept. of Precision Eng., Tokyo Univ., Japan
Abstract :
The planning of graspless manipulation is more difficult than that of conventional pick-and-place, because the motion of the object in graspless manipulation is determined by not only the motion of the manipulator, but also mechanical effect through the contacts with the environment. Based on quasi-static analysis, we propose an algorithm for the planning of 2D graspless manipulation under Coulomb friction. We apply this algorithm to a planning problem of a one-finger manipulation and show a generated result consists of pushing and tumbling - typical graspless operations
Keywords :
friction; linear programming; manipulator dynamics; motion control; path planning; Coulomb friction; graspless manipulation; linear programming; motion planning; position control; quasi-static analysis; Algorithm design and analysis; Collision avoidance; Friction; Grasping; Manipulators; Motion planning; Robots; Stability;
Conference_Titel :
Assembly and Task Planning, 2001, Proceedings of the IEEE International Symposium on
Conference_Location :
Fukuoka
Print_ISBN :
0-7803-7004-X
DOI :
10.1109/ISATP.2001.928973
