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Dynamic manipulation of objects using multiple manipulators

Beigzadeh, B ; Sharif University of Technology | 2008

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  1. Type of Document: Article
  2. DOI: 10.1115/IMECE2007-41481
  3. Publisher: 2008
  4. Abstract:
  5. In this study, we explore the possibility of dynamic object manipulation of objects using a series of manipulators. Here, two three-active-link manipulators have been considered and the generality of the idea to a series of manipulator is developed easily. So without any gripper, and in an unstable grasp manner, we try to throw an object by a manipulator and catch It with another. Also we can consider the impacts generated in the moment of throwing and catching objects, as some disturbance and therefore we damp it. Finally we deal with the whole manipulation process as a system with some noise and disturbance and try to demonstrate its stability. All results have been validated with the aid of simulations. Copyright © 2007 by ASME
  6. Keywords:
  7. Dynamic manipulation ; Active links ; Dynamic object manipulation ; Multiple manipulators ; Computer simulation ; Object recognition ; Stability criteria ; Dynamics ; Manipulators ; Manipulators
  8. Source: ASME International Mechanical Engineering Congress and Exposition, IMECE 2007, Seattle, WA, 11 November 2007 through 15 November 2007 ; Volume 9 PART B , 2008 , Pages 1201-1208 ; 0791843033 (ISBN); 9780791843031 (ISBN)
  9. URL: https://asmedigitalcollection.asme.org/IMECE/proceedings-abstract/IMECE2007/43033/1201/328952