Throwing or shooting - a new technology for logistic chains within production systems

Frank, Heinz; Barteit, D.; Kupzog, F.

doi:10.1109/tepra.2008.4686674

Cited by 16 publications

(8 citation statements)

References 11 publications

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“…disaster site (Tsukagoshi et al, 2012). Moreover, Frank has proposed an application of throwing in industrial environments for fast and long distance object manipulations without belt conveyor (Frank et al, 2008). The main focuses of throwing performance are on (i) how far the manipulator can throw the object and (ii) the accuracy of the landing position of the object.…”

Section: Introductionmentioning

confidence: 99%

Throwing motion design based on minimum sensitivity with respect to error covariance of robot dynamic parameters

Okada

Sekiguchi

2021

Mechanical Engineering Journal

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Throwing by a powered manipulator is an effective way for wide range transportation of an object and carrying an object in unmanned environments. The main problems of throwing are (i) how far the manipulator can throw the object and (ii) the accuracy of the landing position. Focusing on (ii), this paper proposes sensitivity analysis of the landing position with respect to the error covariance of dynamic parameters. Focusing on a planar 3-DOF manipulator, (1) the minimum set of dynamic parameters is introduced and identified based on a frequency weighted method for a nonlinear system, and its error covariance is also identified. (2) The calculation algorithm for sensitivity of landing position with respect to the minimum set of dynamic parameters is proposed. (3) By considering the error covariance of identification, an optimal throwing is designed and evaluated by simulations and/or experiments. Moreover, (4) the principal of sensitivity analysis is discussed from error ellipsoid point of view, and zero error throwing is designed.

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Section: Introductionmentioning

confidence: 99%

Throwing motion design based on minimum sensitivity with respect to error covariance of robot dynamic parameters

Okada

Sekiguchi

2021

Mechanical Engineering Journal

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“…Mason and Lynch defined dynamic manipulation [3] as a manipulation with not only kinematics and statics but also dynamic forces, and developed throwing motion controlling underactuated objects [4]. Frank et al [5] suggested M. Okada is with * 1 Dept. of Mechanical Sciences and Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama Meguro-ku, Tokyo, Japan, 152-8552.…”

Section: Introductionmentioning

confidence: 99%

Robust trajectory design for object throwing based on sensitivity for model uncertainties

Okada

Pekarovskiy

Buss

2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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Throwing an object by a powered robot system is of great importance in unmanned environments. In this paper, we consider the problem of throwing a point-mass object to minimize uncertainty in the object's landing position, given uncertainty in (1) the robot's initial configuration and (2) friction at the joints. Our analysis assumes that the robot's throw is executed using open-loop torque commands, and it relies on the linearized sensitivities of (a) landing location with respect to release state, (b) release state with respect to initial robot configuration and (c) joint friction. Moreover, the effectiveness of the proposed method is evaluated by MonteCarlo simulations.

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“…In areas such as part feeding [1] and transportation within logistic chains [2] one of the main challenges is to position and orient the manipulated object. An effective way is to throw the object from its initial state to the final state using a simple robot with a generic end-effector.…”

Section: Introductionmentioning

confidence: 99%

“…Frank et al [2] suggested to use throwing for industrial applications to speed up transportation of parts in flexible manufacturing systems. They discussed various simple throwing and shooting mechanisms and their applications in {a.pekarovskiy, mb}@tum.de logistic chains.…”

Section: Introductionmentioning

confidence: 99%

Optimal control goal manifolds for planar nonprehensile throwing

Pekarovskiy

Buss

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper presents a throwing motion planner based on a goal manifold for two-point boundary value problem. The article outlines algorithmic and geometric issues for planar throwing of rigid objects with a nonprehensile end-effector. Special attention is paid to the challenge of controlling a desired 6-dimensional state of the object with a planar 3-DoF robot. Modeling of the contacts is discussed using a state vector of the coupled robot and object dynamics. Robustness against uncertainty due to varying model parameters such as object inertia and friction between the end-effector and the object is investigated. An approach for obtaining manifolds of terminal constraints from the goal configuration is described. Classification of these constraints is given. Finally, feasible trajectory generation conditions for successful execution of the generated optimal controls are discussed.

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Throwing or shooting - a new technology for logistic chains within production systems

Cited by 16 publications

References 11 publications

Throwing motion design based on minimum sensitivity with respect to error covariance of robot dynamic parameters

Throwing motion design based on minimum sensitivity with respect to error covariance of robot dynamic parameters

Robust trajectory design for object throwing based on sensitivity for model uncertainties

Optimal control goal manifolds for planar nonprehensile throwing

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