| contributor author | Erumalla, Sandeep R. | |
| contributor author | Pasupuleti, Sujithkumar | |
| contributor author | Ryu, Ji-Chul | |
| date accessioned | 2019-02-28T11:04:11Z | |
| date available | 2019-02-28T11:04:11Z | |
| date copyright | 7/18/2018 12:00:00 AM | |
| date issued | 2018 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_010_05_054501.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4252331 | |
| description 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 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. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Throwing, Catching, and Balancing of a Disk With a Disk-Shaped End Effector on a Two-Link Manipulator | |
| type | Journal Paper | |
| journal volume | 10 | |
| journal issue | 5 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4040630 | |
| journal fristpage | 54501 | |
| journal lastpage | 054501-5 | |
| tree | Journal of Mechanisms and Robotics:;2018:;volume( 010 ):;issue: 005 | |
| contenttype | Fulltext | |
