In-hand forward and inverse kinematics with rolling contact

Cui, Lei; Sun, Jie; Dai, Jian S.

doi:10.1017/s026357471700008x

Cited by 13 publications

(16 citation statements)

References 42 publications

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“…Then, they obtained admissible rolling motion between two contact surfaces. Cui et al [12] studied in-hand forward and inverse kinematics with rolling contact. They presented a systematic approach to the forward and inverse kinematics of in-hand manipulation.…”

Section: Ehm Et Aydinalp M Ustafa Kazaz and Hasan Hüseyin U ¼ Gurlumentioning

confidence: 99%

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The inverse kinematics of rolling contact of timelike curves lying on timelike surfaces

Aydinalp¹,

Kazaz

Uğurlu³

2019

Communications Faculty of Science University of Ankara Series A1Mathematics and Statistics

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Rolling contact between two surfaces plays an important role in robotics and engineering such as spherical robots, single wheel robots, and multi-…ngered robotic hands to drive a moving surface on a …xed surface. The rolling contact pairs have one, two, or three degrees of freedom (DOFs) consisting of angular velocity components. Rolling contact motion can be divided into two categories: spin-rolling motion and pure-rolling motion. Spinrolling motion has three (DOFs), and pure-rolling motion has two (DOFs). Further, it is well known that the contact kinematics can be divided into two categories: forward kinematics and inverse kinematics. In this paper, we investigate the inverse kinematics of spin-rolling motion without sliding of one timelike surface on another timelike surface in the direction of timelike unit tangent vectors of their timelike trajectory curves by determining the desired motion and the coordinates of the contact point on each surface. We get three nonlinear algebraic equations as inputs by using curvature theory in Lorentzian geometry. These equations can be reduced as a univariate polynomial of degree six by applying the Darboux frame method. This polynomial enables us to obtain rapid and accurate numerical root approximations and to analyze the rolling rate as an output. Moreover, we obtain another outputs: the rolling direction and the compensatory spin rate.

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Section: Ehm Et Aydinalp M Ustafa Kazaz and Hasan Hüseyin U ¼ Gurlumentioning

confidence: 99%

“…Substituting the curvatures in Eqs. (12) and (14) into Eqs. Since k g = k g k g ; k n = k n k n ; g = g g ; then the induced curvatures are obtained as k n = 1 4 3 sinh 2 (' + ); g = 4 3 cosh(' + ) sinh(' + ); k g = tanh u sinh ' + d ds :…”

Section: Preliminariesmentioning

confidence: 99%

The inverse kinematics of rolling contact of timelike curves lying on timelike surfaces

Aydinalp¹,

Kazaz

Uğurlu³

2019

Communications Faculty of Science University of Ankara Series A1Mathematics and Statistics

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“…In most previous research works, the contacts, decided by grasp forms and contact models, are constructed as the kinematic constraints and technically studied in the kinematics of the hand robot [8,9], by which the manipulability of the robot is discussed [10,11]. Based on the kinematic modeling of the hand robot, a series of kinematic manipulation control designs have been proposed.…”

Section: Introductionmentioning

confidence: 99%

Contact constraints-based dynamic manipulation control of the multi-fingered hand robot: a force sensorless approach

Zhao

Yang

et al. 2021

Nonlinear Dyn

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A novel analytical modeling and dynamic manipulation control method of the multi-fingered hand robot has been proposed in the paper. Based on the contact constraints, the explicit dynamics modeling of the hand robot manipulating an object is hierarchically established by Udwadia-Kalaba equation with no auxiliary variable (e.g., Lagrange multipliers or quasi-generalized variables). Through the second order of the contact constraints, the grasping forces of the hand robot in the manipulation work space are derived explicitly and decoupled with the control torques of the finger joints. Consider the hand robot and the object as an entire system in the control design. Motivated by Udwadia's work, the manipulation task of the grasped object is novelly used to formulate a set of servo constraints. In virtue of following the servo constraints, the hand robot can manipulate the object to accomplish the desired task. With the formulated contact forces model, a model-based dynamic control method is proposed for the hand robot to handle the object, which does not depend on the force feedback from the fingertips sensors (force sensorless). The system performance under

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“…1). In the field of dexterous manipulation, the rolling fingertips with convex surfaces can be utilized to manipulate different grasped objects [1,2,3]. For example, Yuan et al developed recently rolling spherical fingertips for grasping mechanisms [3].…”

Section: Introductionmentioning

confidence: 99%

Motion Planning of a Spin-Rolling Sphere on a Plane

Tafrishi¹,

Yamamoto²,

Hirata³

2021

Preprint

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The paper deals with motion planning for a spin-rolling sphere when the sphere follows a straight path on a plane. Since the motion of the sphere is constrained by the straight line, the control of the sphere's spin motion is essential to converge to a desired configuration of the sphere. In this paper, we show a new geometric-based planning approach that is based on a full-state description of this nonlinear system. First, the problem statement of the motion planning is posed. Next, we develop a geometric controller implemented as a virtual surface by using the Darboux frame kinematics. This virtual surface generates arc-length-based inputs for controlling the trajectories of the sphere. Then, an iterative algorithm is designed to tune these inputs for the desired configurations. The feasibility of the proposed approach is verified by simulations.

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In-hand forward and inverse kinematics with rolling contact

Cited by 13 publications

References 42 publications

The inverse kinematics of rolling contact of timelike curves lying on timelike surfaces

The inverse kinematics of rolling contact of timelike curves lying on timelike surfaces

Contact constraints-based dynamic manipulation control of the multi-fingered hand robot: a force sensorless approach

Motion Planning of a Spin-Rolling Sphere on a Plane

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