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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

Grad. Student, Dept. of Mechanical Engineering, Northern Illinois University, DeKalb, Illinois 60115
z1789635@students.niu.edu

Sujithkumar Pasupuleti

Grad. Student, Dept. of Mechanical Engineering, Northern Illinois University, DeKalb, Illinois 60115
z1714474@students.niu.edu

Ji-Chul Ryu

Assistant Professor, Ph.D, Member of ASME, Dept. of Mechanical Engineering, Northern Illinois University, DeKalb, Illinois 60115
jryu@niu.edu

1Corresponding author.

ASME doi:10.1115/1.4040630 History: Received February 08, 2018; Revised May 31, 2018

Abstract

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 is 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 reduces impact during contact. Balancing control is then implemented 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.

Copyright (c) 2018 by ASME
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