Optimal Shape and Motion Planning for Dynamic Planar Manipulation
This paper presents a framework for optimizing both the shape and the motion of a planar rigid end-effector to satisfy a desired manipulation task. We frame this design problem as a nonlinear optimization program, where shape and motion are decision variables represented as splines. The task is repr...
| Main Authors: | , |
|---|---|
| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
Robotics: Science and Systems Foundation
2021
|
| Online Access: | https://hdl.handle.net/1721.1/130051 |
| _version_ | 1811096669357342720 |
|---|---|
| author | Taylor, Orion Thomas Rodriguez Garcia, Alberto |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Taylor, Orion Thomas Rodriguez Garcia, Alberto |
| author_sort | Taylor, Orion Thomas |
| collection | MIT |
| description | This paper presents a framework for optimizing both the shape and the motion of a planar rigid end-effector to satisfy a desired manipulation task. We frame this design problem as a nonlinear optimization program, where shape and motion are decision variables represented as splines. The task is represented as a series of constraints, along with a fitness metric,which force the solution to be compatible with the dynamics of frictional hard contact while satisfying the task. We illustrate the approach with the example problem of moving a disk along a desired path or trajectory, and we verify it by applying it to three classical design problems: the rolling brachistochrone, the design of teeth of involute gears, and the pitch curve of rolling cams. We conclude with a case study involving the optimization and real implementation of the shape and motion of a dynamic throwing arm. |
| first_indexed | 2024-09-23T16:47:10Z |
| format | Article |
| id | mit-1721.1/130051 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T16:47:10Z |
| publishDate | 2021 |
| publisher | Robotics: Science and Systems Foundation |
| record_format | dspace |
| spelling | mit-1721.1/1300512022-09-29T21:29:37Z Optimal Shape and Motion Planning for Dynamic Planar Manipulation Taylor, Orion Thomas Rodriguez Garcia, Alberto Massachusetts Institute of Technology. Department of Mechanical Engineering This paper presents a framework for optimizing both the shape and the motion of a planar rigid end-effector to satisfy a desired manipulation task. We frame this design problem as a nonlinear optimization program, where shape and motion are decision variables represented as splines. The task is represented as a series of constraints, along with a fitness metric,which force the solution to be compatible with the dynamics of frictional hard contact while satisfying the task. We illustrate the approach with the example problem of moving a disk along a desired path or trajectory, and we verify it by applying it to three classical design problems: the rolling brachistochrone, the design of teeth of involute gears, and the pitch curve of rolling cams. We conclude with a case study involving the optimization and real implementation of the shape and motion of a dynamic throwing arm. 2021-03-02T19:00:31Z 2021-03-02T19:00:31Z 2017-07 2020-07-31T17:44:30Z Article http://purl.org/eprint/type/ConferencePaper 9780992374730 https://hdl.handle.net/1721.1/130051 Taylor, Orion and Alberto Rodriguez."Optimal Shape and Motion Planning for Dynamic Planar Manipulation." Robotics: Science and Systems XIII, July 2017, Cambridge, Massachusetts, Robotics: Science and Systems Foundation, July 2017. en http://dx.doi.org/10.15607/rss.2017.xiii.055 Robotics: Science and Systems XIII Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Robotics: Science and Systems Foundation MIT web domain |
| spellingShingle | Taylor, Orion Thomas Rodriguez Garcia, Alberto Optimal Shape and Motion Planning for Dynamic Planar Manipulation |
| title | Optimal Shape and Motion Planning for Dynamic Planar Manipulation |
| title_full | Optimal Shape and Motion Planning for Dynamic Planar Manipulation |
| title_fullStr | Optimal Shape and Motion Planning for Dynamic Planar Manipulation |
| title_full_unstemmed | Optimal Shape and Motion Planning for Dynamic Planar Manipulation |
| title_short | Optimal Shape and Motion Planning for Dynamic Planar Manipulation |
| title_sort | optimal shape and motion planning for dynamic planar manipulation |
| url | https://hdl.handle.net/1721.1/130051 |
| work_keys_str_mv | AT taylororionthomas optimalshapeandmotionplanningfordynamicplanarmanipulation AT rodriguezgarciaalberto optimalshapeandmotionplanningfordynamicplanarmanipulation |