Parts assembly by throwing manipulation with a one-joint arm

Abstract

The present paper proposes the learning control method for the throwing manipulation which can control not only the position but also the orientation of the polygonal object more accurately and robustly by low-degree-of-freedom robotic arm. We show experimentally the validity of the proposed control method with the one-degree-freedom robotic arm. We also demonstrate the usefulness of the throwing manipulation by applying it to sorting task and assembly task on experiments.

Optimal control goal manifolds for planar nonprehensile throwing

“…A throwing model with simple kinematics including an air drag influence was presented in [6]. Miyashita et al [7], [8] suggested a control strategy for a 1-DoF rotational robot with edges based on iteration optimization learning. For this purpose a nonlinear optimization problem is solved by the sequential quadratic programming (SQP) method for different initial conditions with constraints on actuator limits and final object position.…”