Motion planning of robot fingertips for graspless manipulation

Maeda, Yusuke; Nakamura, Toshiya; Arai, Tamio

doi:10.1109/robot.2004.1307509

Cited by 32 publications

(21 citation statements)

References 10 publications

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“…(1) and (2). If the mass and inertia of the object is negligible in comparison to those of the manipulators, dynamics of the manipulators in all phases of manipulation task is given by Eqs.…”

Section: Problem Modelingmentioning

confidence: 99%

Optimal motion planning of juggling by 3-DOF manipulators using adaptive PSO algorithm

Akbarimajd

2013

Robotica

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Three-DOF manipulators were employed for juggling of polygonal objects in order to have full control over object's configuration. Dynamic grasp condition is obtained for the instances that the manipulators carry the object on their palms. Manipulation problem is modeled as a nonlinear optimal control problem. In this optimal control problem, time of free flight is used as a free parameter to determine throw and catch times. Cost function is selected to get maximum covered horizontal distance using minimum energy. By selecting third-order polynomials for joint motions, the problem is changed to a constrained parameter selection problem. Adaptive particle swarm optimization method is consequently employed to solve the optimization problem. Effectiveness of the optimization algorithm is verified by a set of simulations in MSC. ADAMS.

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Section: Problem Modelingmentioning

confidence: 99%

Optimal motion planning of juggling by 3-DOF manipulators using adaptive PSO algorithm

Akbarimajd

2013

Robotica

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“…Manipulation planning based on a quasi-static model was discussed in [2], [18]. However, the applicability of quasi-static manipulations to various tasks is limited for the case in which equilibrium is not satisfied.…”

Section: A Related Researchmentioning

confidence: 99%

Randomized planning and control strategy for whole-arm manipulation of a slippery polygonal object

Yamawaki

Yashima

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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The present paper introduces a planning and control strategy for whole-arm manipulation of a slippery polygonal object. Randomized planning methods are first proposed in order to generate contact state transitions, which help not only to reduce the amount of calculation required, but also to handle a hybrid system composed of a continuous system and a discrete system, which has a large search space and complicated constraints. Second, a novel control strategy, which can switch manipulation modes among quasi-static, dynamic, and caging manipulation depending on the situation, is proposed. This strategy not only can cope with changes in the mechanics of the system caused by contact state transitions, but also can increase the manipulation feasibility and reliability. The validity of the proposed methods is verified through simulations and experiments.

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“…The manipulated object is in contact with not only the robot but also with the environment. Moreover, graspless manipulation may be irreversible (Maeda et al, 2004;Maeda and Arai, 2005;Miyazawa et al, 2005). Nonprehensile manipulation methods are majorly divided into two different categories; quasi-static and dynamic manipulation methods.…”

Section: Introductionmentioning

confidence: 99%

An algorithm for dynamic object manipulation by a flexible link robot

Tarvirdizadeh

Alipour

Hadi

2016

Engineering Computations

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Purpose -The purpose of this paper is to focus on an online closed-loop (CL) approach for performing dynamic object manipulation (DOM) by a flexible link manipulator. Design/methodology/approach -Toward above goal, a neural network and optimal control are integrated in a closed-loop structure, to achieve a robust control for online DOM applications. Additionally, an elegant novel numerical solution method will be developed which can handle the split boundary value problem resulted from DOM mission requirements for a wide range of boundary conditions. Findings -The obtained simulation results reveal the effectiveness of both proposed innovative numerical solution technique and control structure for online object manipulation purposes using flexible manipulators. Originality/value -The object manipulation problem has previously been studied, however, for the first time its accomplishment by flexible link manipulators was addressed just in offline form considering an open-loop control structure (Tarvirdizadeh and Yousefi-Koma, 2012). As an extension of Tarvirdizadeh and Yousefi-Koma (2012), the current research, consequently, focusses on a numerical solution and a CL approach for performing DOM by a flexible link manipulator.

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Motion planning of robot fingertips for graspless manipulation

Cited by 32 publications

References 10 publications

Optimal motion planning of juggling by 3-DOF manipulators using adaptive PSO algorithm

Optimal motion planning of juggling by 3-DOF manipulators using adaptive PSO algorithm

Randomized planning and control strategy for whole-arm manipulation of a slippery polygonal object

An algorithm for dynamic object manipulation by a flexible link robot

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