Dynamic Manipulation of Objects Using Multiple Manipulators

Beigzadeh, Borhan; Meghdari, Ali; Beigzadeh, Yasan

doi:10.1115/imece2007-41481

Cited by 3 publications

(3 citation statements)

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“…In 2007, an optimal control approach for throwing the object by 3DOF arms is presented [11]. A series of 3-DOF manipulators were used in [12] for throwing an object. In [13] a casting manipulator with flexible arm is developed to throw an object to its goal.…”

Section: Introductionmentioning

confidence: 99%

Dynamic manipulation of active objects: Modeling and optimization

Makarem

Akbarimajd

Ahmadabadi

2009

2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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In this paper the problem of dynamic manipulation of active objects by throwing is studied. Here active object means a multi-body object that can actively move its body parts. The prime reason for selecting this problem is existence of conceptual analogy between it and dynamic walking. The second reason is theoretical attraction in addition to its possible practical applications for manipulation of active objects in space or in micro scales.First the task is decomposed into three distinct phases and it is mathematically modeled. Main constraints such as requirement to hold dynamic grasp are also derived and mapped into the manipulator's configuration space. Then the task is formulated as an optimization problem and a proper cost function in the manipulator's configuration space is presented. Finally this optimization problem is solved for obtaining appropriate trajectories of manipulator's joints in addition to that of the active object. Simulation results in ADAMS verify the developed formulations.

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Section: Introductionmentioning

confidence: 99%

Dynamic manipulation of active objects: Modeling and optimization

Makarem

Akbarimajd

Ahmadabadi

2009

2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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“…Other examples of DNM include dynamic object manipulation of a sphere using two planar manipulation, 12,13 dynamic manipulation of objects using multiple manipulators, 14 dynamic manipulation of multibody objects, 15 kinematic manipulation such as rolling an object between two plates, 16,17 quasi-static manipulation such as pushing with point contact 18 or pushing parts on a conveyor belt using a one DOF robot, 19 and dynamic manipulation such as dynamic rolling, 20 and snatching, rolling and throwing. 21…”

Section: Introductionmentioning

confidence: 99%

Passive dynamic object manipulation: A framework for passive walking systems

Beigzadeh

Meghdari

Sohrabpour

2013

Proceedings of the Institution of Mechanical Engineers, Part K:

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In this study, we deal with passive dynamic object manipulation. During passive dynamic object manipulation, a passive object is manipulated using passive manipulators. Like other passive robotic systems, there are no actuators in these systems. The object follows a path and travels along it under the effect of its own weight, as well as, the interaction force applied by each manipulator on it. The objects are not necessarily rigid, but we manipulate passive multibody objects as well as rigid ones. Thus, for a passive walking system, we assume that the passive walker is a multibody object and is manipulated by the ground (zero degree-of-freedom manipulator). As an example, we show that a compass-gait walking model could be constructed based on a passive manipulation framework by an evolutionary procedure. First, a polygonal rigid object is selected to be manipulated by one degree-of-freedom manipulator. Then, we deal with simple two-link objects manipulating them with the same one degree-of-freedom manipulator. For each example, dynamic equations of motion are derived and the stability of the process is taken into account using analysis of Poincare map. It is also shown that the second example has chaotic behaviour for some initial conditions. Finally, the model of the compass-gait walker is constructed according to the two previous examples' results. Simulations and experiments are used to support the concept and verify the results.

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“…Dynamic object manipulation (it is also called Dynamic Nonprehensile Manipulation (DNM) meaning manipulation without grasping the object), however, simplifies the structure of manipulators while adding complexity to the control strategy, dynamical modeling, and stability analysis of the process. Pushing [1,2], rolling [2], sliding [2], throwing [4,5], catching [4,5], batting [6], and so on, are the concepts based on which dynamic object manipulation is usually performed.…”

Section: Introductionmentioning

confidence: 99%