Abstract
This paper presents a novel nonprehensile manipulation method that uses the vibration of a plate, where the two degrees of freedom of a part on the plate are controlled by only one actuator. First, a manipulator whose end effector is a flat plate is introduced. By employing an underactuated joint mechanism, the shape and orientation of the vibrational orbit of the plate vary according to frequency and offset angle of the sinusoidal displacement input to an actuator. Then, simulation analyses reveal that the manipulator can omnidirectionally induce translational velocity to the part on the plate. There exists an orthogonality between the effects of the frequency and offset angle on the velocity map of the part. Based on this characteristic, a visual feedback control for manipulating the part is designed. Finally, the proposed method is validated via experiments using a prototype manipulator. A target-trajectory tracking task and a four-way part-feeding task are demonstrated.
Highlights
Robotic object manipulations include the grasping type, which employs multifingered hands [1]. This type has the advantage of higher dexterity and accuracy by using a large number of degrees of freedom (DoF) of the robot
Compared with the grasping type, the nonprehensile type has the advantage of simplicity from the viewpoints of its mechanism and control law
A simple flat plate is utilized as an end effector, the position and orientation of a part can be controlled
Summary
Robotic object manipulations include the grasping type, which employs multifingered hands [1]. An underactuated system contributes to simplify hardware and to reduce the number of actuators and sensors installed It has a potential for reducing the cost, weight and maintenance labor of robot systems utilized as a planar part-feeding and part-sorting device. Based on such a motivation, the authors’ group has discussed a nonprehensile manipulation scheme where the two-DoF manipulation is realized by only one actuator. While the underactuated nonprehensile manipulation methods using one actuator were discussed [19,20,21,22,23,24], there was no method that can control the induced velocity of a part omnidirectionally.
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