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Two dimensional dynamic manipulation of a disc using two manipulators

Beigzadeh, B ; Sharif University of Technology | 2006

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  1. Type of Document: Article
  2. DOI: 10.1109/ICMA.2006.257795
  3. Publisher: 2006
  4. Abstract:
  5. 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. © 2006 IEEE
  6. Keywords:
  7. Dynamic object manipulation ; Inverse dynamic control ; Nonprehensile manipulation ; Damping ; Joints (structural components) ; Motion planning ; Parameter estimation ; Position control ; Problem solving ; Two dimensional ; Manipulators
  8. Source: 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006, Luoyang, 25 June 2006 through 28 June 2006 ; Volume 2006 , 2006 , Pages 1191-1196 ; 1424404665 (ISBN); 9781424404667 (ISBN)
  9. URL: https://ieeexplore.ieee.org/document/4026255