DocumentCode
3179782
Title
Planning of quasi-static graspless manipulation
Author
Maeda, Yusuke ; Aiyama, Yasumichi ; Arai, Tamio
Author_Institution
Dept. of Precision Eng., Tokyo Univ., Japan
fYear
2001
fDate
2001
Firstpage
98
Lastpage
103
Abstract
The planning of graspless manipulation is more difficult than that of conventional pick-and-place, because the motion of the object in graspless manipulation is determined by not only the motion of the manipulator, but also mechanical effect through the contacts with the environment. Based on quasi-static analysis, we propose an algorithm for the planning of 2D graspless manipulation under Coulomb friction. We apply this algorithm to a planning problem of a one-finger manipulation and show a generated result consists of pushing and tumbling - typical graspless operations
Keywords
friction; linear programming; manipulator dynamics; motion control; path planning; Coulomb friction; graspless manipulation; linear programming; motion planning; position control; quasi-static analysis; Algorithm design and analysis; Collision avoidance; Friction; Grasping; Manipulators; Motion planning; Robots; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Assembly and Task Planning, 2001, Proceedings of the IEEE International Symposium on
Conference_Location
Fukuoka
Print_ISBN
0-7803-7004-X
Type
conf
DOI
10.1109/ISATP.2001.928973
Filename
928973
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