Capture Regions for Grasping, Manipulating and Re-orienting Parts

捕获用于抓取、操作和重新定向零件的区域

• 批准号: 9907009
• 负责人: Jean Ponce
• 金额: $ 30万
• 依托单位: University of Illinois at Urbana-Champaign
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 1999
• 资助国家: 美国
• 起止时间: 1999-09-15 至 2003-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9907009&HistoricalAwards=false
• 关键词: Capture; Regions; Grasping; Manipulating; Re

Abstract IIS-9907009Ponce, JeanUniversity of Illinois at Urbana-Champaign$108,395 - 12 mos.CAPTURE REGIONS FOR GRASPING, MANIPULATING AND RE-ORIENTING PARTSThis is the first year of a three-year continuing award. The PI addresses the problem of manipulating an object using a succession of contacts with simple robotic devices that may have discrete or continuous degrees of freedom. The problem of planning the overall object trajectory is reduced to constructing a sequence of atomic robot motions between equilibrium states of the system. The proposed approach is based on constructing the capture region of each equilibrium, i.e., the maximal subset of the object's configurationspace such that any motion starting within this subset is guaranteed to end up in the equilibrium configuration. In particular, contact is not assumed to maintain during the execution of the manipulation task; nor is there any attempt to predict the object motion between equilibria. This approach will be applied to three problems: (1) grasping and in-hand manipulation in the presence of frictional effects and large position uncertainties, (2) motion planning for mobile robots pushing an object while avoiding obstacles, and (3) re-orienting parts by dropping them on a simple mechanism reminiscent of Pachinko machines. Progress will be assessed by conducting experiments with actual robotic devices, including four Nomadic Super Scout II mobile robots and prototypes of the reconfigurable gripper and of the proposed Pachinko machine developed at the University of Illinois. The main applications of the proposed research are in manufacturing, including part feeding and industrial assembly. Longer-term applications include the control of teams of domestic robots as they perform chores around a house.

摘要IIS-9907009 Ponce，JeanUniversity of Illinois at Urbana-Champaign $108，395 - 12 mos。抓取、操纵和重定向部件的捕获区域这是一个为期三年的连续奖项的第一年。PI解决了使用简单的机器人设备，可以具有离散或连续的自由度的一系列接触来操纵对象的问题。规划的整体对象轨迹的问题被减少到构建一个序列的原子机器人运动之间的平衡状态的系统。 所提出的方法基于构建每个平衡的捕获区域，即，物体构形空间的最大子集，使得在该子集内开始的任何运动都保证以平衡构形结束。特别是，接触不被认为是保持在执行的操作任务，也没有任何尝试来预测平衡之间的对象运动。这种方法将被应用到三个问题：（1）抓和手操作的摩擦效应和大的位置不确定性的存在，（2）运动规划的移动的机器人推动一个对象，同时避免障碍物，和（3）重新定向零件通过下降到一个简单的机制让人想起弹球机。将通过对实际机器人设备进行实验来评估进展情况，这些设备包括四个Nomadic Super Scout II移动的机器人和可重新配置的夹持器原型以及伊利诺伊大学开发的拟议弹球机。所提出的研究的主要应用是在制造业，包括零件进给和工业装配。长期应用包括控制家庭机器人团队，因为他们在房子周围做家务。