In this paper, nonprehensile throwing, catching, and balancing of a disk-shaped object by a two-link planar manipulator mounted with a disk-shaped end effector are presented. Given a goal position, which is out of the robot's reachable space, the required release position and velocity for throwing are first determined. The throwing manipulation is proposed in a way that the arm follows a planned trajectory between the ready and the release position to achieve the required velocity at the release position. Catching is performed in a way that it reduces impact when making contact. Balancing control is then applied to the disk-shaped end effector to prevent the object from falling after catching. The proposed approach was implemented on an experimental setup built for verification and the results are provided.
Throwing, Catching, and Balancing of a Disk With a Disk-Shaped End Effector on a Two-Link Manipulator
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received February 8, 2018; final manuscript received May 31, 2018; published online July 18, 2018. Editor: Venkat Krovi.
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Erumalla, S. R., Pasupuleti, S., and Ryu, J. (July 18, 2018). "Throwing, Catching, and Balancing of a Disk With a Disk-Shaped End Effector on a Two-Link Manipulator." ASME. J. Mechanisms Robotics. October 2018; 10(5): 054501. https://doi.org/10.1115/1.4040630
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