0
Technical Brief

Throwing, Catching, and Balancing of a Disk With a Disk-Shaped End Effector on a Two-Link Manipulator

[+] Author and Article Information
Sandeep R. Erumalla

Department of Mechanical Engineering,
Northern Illinois University,
DeKalb, IL 60115
e-mail: z1789635@students.niu.edu

Sujithkumar Pasupuleti

Department of Mechanical Engineering,
Northern Illinois University,
DeKalb, IL 60115
e-mail: z1714474@students.niu.edu

Ji-Chul Ryu

Mem. ASME
Department of Mechanical Engineering,
Northern Illinois University,
DeKalb, IL 60115
e-mail: jryu@niu.edu

1Corresponding author.

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.

J. Mechanisms Robotics 10(5), 054501 (Jul 18, 2018) (5 pages) Paper No: JMR-18-1037; doi: 10.1115/1.4040630 History: Received February 08, 2018; Revised May 31, 2018

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.

FIGURES IN THIS ARTICLE
<>
Copyright © 2018 by ASME
Your Session has timed out. Please sign back in to continue.

References

Lynch, K. M. , and Mason, M. T. , 1999, “ Dynamic Nonprehensile Manipulation: Controllability, Planning, and Experiments,” Int. J. Rob. Res., 18(1), pp. 64–92. [CrossRef]
Ruggiero, F. , Lippiello, V. , and Siciliano, B. , 2018, “ Nonprehensile Dynamic Manipulation: A Survey,” IEEE Rob. Autom. Lett., 3(3), pp. 1711–1718. [CrossRef]
Mori, W. , Ueda, J. , and Ogasawara, T. , 2010, “ A 1-DOF Dynamic Pitching Robot That Independently Controls Velocity, Angular Velocity and Direction of a Ball,” Adv. Rob., 24(5–6), pp. 921–942. [CrossRef]
Miyashita, H. , Yamawaki, T. , and Yashima, M. , 2011, “ Parts Assembly and Sorting by Throwing Manipulation: Planning and Control,” J. Syst. Des. Dyn., 5(1), pp. 139–154.
Pekarovskiy, A. , and Buss, M. , 2013, “ Optimal Control Goal Manifolds for Planar Nonprehensile Throwing,” IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, Nov. 3–7, pp. 4518–4524.
Bätz, G. , Yaqub, A. , Wu, H. , Kühnlenz, K. , Wollherr, D. , and Buss, M. , 2010, “ Dynamic Manipulation: Nonprehensile Ball Catching,” Mediterranean Conference on Control and Automation, Marrakech, Morocco, June 23–25, pp. 365–370.
Schill, M. M. , and Buss, M. , 2017, “ Kinematic Trajectory Planning for Dynamically Unconstrained Nonprehensile Joints,” IEEE Rob. Autom. Lett., 3(2), pp. 728–734. [CrossRef]
Yashima, M. , and Yamawaki, T. , 2014, “ Robotic Nonprehensile Catching: Initial Experiments,” IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, Sept. 14–18, pp. 2461–2467.
Ryu, J.-C. , Ruggiero, F. , and Lynch, K. M. , 2013, “ Control of Nonprehensile Rolling Manipulation: Balancing a Disk on a Disk,” IEEE Trans. Rob., 29(5), pp. 1152–1161. [CrossRef]
Spong, M. W. , Hutchinson, S. , and Vidyasagar, M. , 2005, Robot Modeling and Control, 1st ed., Wiley, Hoboken, NJ.

Figures

Grahic Jump Location
Fig. 3

Schematic of the two-link manipulator arm mounted with the disk-on-disk system

Grahic Jump Location
Fig. 2

Experimental setup diagram

Grahic Jump Location
Fig. 1

Robotic manipulator system built for this work

Grahic Jump Location
Fig. 4

Snapshots of the experiment were taken every 0.23 s

Grahic Jump Location
Fig. 5

Actual trajectory of the object

Grahic Jump Location
Fig. 6

Desired and actual trajectories of the hand

Grahic Jump Location
Fig. 7

Experimental result of state variable η2. When the object is perfectly at the upright position, η2 = 0.

Tables

Errata

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In