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

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.

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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

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Fig. 1

Robotic manipulator system built for this work

Grahic Jump Location
Fig. 4

Snapshots of the experiment were taken every 0.23 s

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Fig. 5

Actual trajectory of the object

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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.



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