Omnidirectional Nonprehensile Manipulation Using Only One Actuator
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 me...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2018-07-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | http://www.mdpi.com/2218-6581/7/3/34 |
| _version_ | 1817989963192467456 |
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| author | Mitsuru Higashimori Kohei Yamaguchi Akihide Shibata |
| author_facet | Mitsuru Higashimori Kohei Yamaguchi Akihide Shibata |
| author_sort | Mitsuru Higashimori |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-14T00:53:05Z |
| format | Article |
| id | doaj.art-eb512ebbb70b4442a8049b42312f14cc |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-04-14T00:53:05Z |
| publishDate | 2018-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-eb512ebbb70b4442a8049b42312f14cc2022-12-22T02:21:43ZengMDPI AGRobotics2218-65812018-07-01733410.3390/robotics7030034robotics7030034Omnidirectional Nonprehensile Manipulation Using Only One ActuatorMitsuru Higashimori0Kohei Yamaguchi1Akihide Shibata2Department of Mechanical Engineering, Graduate School of Engineering, Osaka University, Suita 565-0871, JapanDepartment of Mechanical Engineering, Graduate School of Engineering, Osaka University, Suita 565-0871, JapanDepartment of Mechanical Engineering, Graduate School of Engineering, Osaka University, Suita 565-0871, JapanThis 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.http://www.mdpi.com/2218-6581/7/3/34nonprehensile manipulationunderactuated mechanismomnidirectional velocity |
| spellingShingle | Mitsuru Higashimori Kohei Yamaguchi Akihide Shibata Omnidirectional Nonprehensile Manipulation Using Only One Actuator Robotics nonprehensile manipulation underactuated mechanism omnidirectional velocity |
| title | Omnidirectional Nonprehensile Manipulation Using Only One Actuator |
| title_full | Omnidirectional Nonprehensile Manipulation Using Only One Actuator |
| title_fullStr | Omnidirectional Nonprehensile Manipulation Using Only One Actuator |
| title_full_unstemmed | Omnidirectional Nonprehensile Manipulation Using Only One Actuator |
| title_short | Omnidirectional Nonprehensile Manipulation Using Only One Actuator |
| title_sort | omnidirectional nonprehensile manipulation using only one actuator |
| topic | nonprehensile manipulation underactuated mechanism omnidirectional velocity |
| url | http://www.mdpi.com/2218-6581/7/3/34 |
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