Control of Nonprehensile Manipulation

Lynch, Kevin; Murphey, Todd D.

doi:10.1007/3-540-36224-x_3

Cited by 36 publications

(21 citation statements)

References 34 publications

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“…In order to describe the motions of a redundant manipulator, a joint space decomposition algorithm is employed [13]. By using an auxiliary matrix Z(q) and an auxiliary vector λ, q can be formulated aṡ…”

Section: B Joint Space Decompositionmentioning

confidence: 99%

Null Space Based Robot Compliant Control with Prescribed Motion Performance

Jiang

Yang

et al. 2018

2018 Eighth International Conference on Information Science and Technology (ICIST)

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In this paper, a null space controller is proposed to achieve a compliant motion behaviour of a redundant manipulator for a safety human-robot interaction. The robot endeffector is controlled using a prescribed performance controller, such that the transient tracking performance of the main task is guaranteed. The compliant behaviour of the robot motion is ensured by using a null space control law, by which the external torque acting on the main task can be projected to a null space and the effects of the external force can be reduced. The external torque is estimated and canceled by using an adaptive disturbance observer. Lyapunov synthesis illustrates the asymptotic stability of the robot system while simulation studies based on a 3-DOF planner robot show the effectiveness of the proposed control algorithm.

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Section: B Joint Space Decompositionmentioning

confidence: 99%

Null Space Based Robot Compliant Control with Prescribed Motion Performance

Jiang

Yang

et al. 2018

2018 Eighth International Conference on Information Science and Technology (ICIST)

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“…Geometry of the object is critical in determining its controllability, while that of the manipulator and its kinematics are important to establish how the manipulator can contact the object and apply appropriate forces [9], and [10].…”

Section: Introductionmentioning

confidence: 99%

Study of the friction effect on the stability of a three-rigid link object manipulated by two cooperative robot arms

Mehrez

Zyada

Hayakawa

et al. 2014

2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

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This work presents a study of the frictional effect on the stability of a three-rigid link object manipulated by two cooperative robot arms in a plane. It is supposed that the threerigid link object interacts with the two robot arms at multi contact points to perform the nonprehensile manipulation of the object. The object is figured out in a way such that one of the arms is in contact with two links of the object, while the other arm is free to slide along the third link. The effect of changing frictional forces at the contact points as well as their directions on the stability of the manipulated object is to be explored by defining the system constraints. A definition of what is called the "Stability Margin" is obtained. For the same orientation of the object links, the Stability Margin is a region of equilibrium contact points between the sliding arm and the corresponding object link where the robot arm could be placed in without dropping the object. Later, an experimental system consisting of a three-rigid link object and a two planar robot arms manipulation system is equipped to verify the concept.

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“…Nonprehensile manipulation means manipulation without grasp. 4 Nonprehensile manipulation methods are divided into two major categories including quasi static and dynamic manipulation methods. 2 In fact the robot is considered as a tool to shape the dynamics of the environment and the object.…”

Section: Introductionmentioning

confidence: 99%

“…In nonprehensile manipulation, simple manipulators are employed to work along with the geometry and dynamics of the object and the environment, 1 instead of using complicated and dexterous manipulators to fight the dynamics. 4 In quasi-static manipulation, motions are considered slow enough to neglect inertial forces. 3 Object's geometry and robot's geometry are both important for nonprehensile manipulation.…”

Section: Introductionmentioning

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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Control of Nonprehensile Manipulation

Cited by 36 publications

References 34 publications

Null Space Based Robot Compliant Control with Prescribed Motion Performance

Null Space Based Robot Compliant Control with Prescribed Motion Performance

Study of the friction effect on the stability of a three-rigid link object manipulated by two cooperative robot arms

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

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