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Paper WeC02.3

McCarthy, Zoe (University of Illinois at Urbana-Champaign), Bretl, Timothy (University of Illinois at Urbana-Champaign)

Mechanics and Manipulation of Planar Elastic Kinematic Chains

Scheduled for presentation during the Regular Session "Compliance Devices and Control" (WeC02), Wednesday, May 16, 2012, 15:00−15:15, Meeting Room 2 (Chief Red Wing)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on October 24, 2017

Keywords Motion and Path Planning, Manipulation Planning, Redundant Robots

Abstract

In this paper, we study quasi-static manipulation of a planar kinematic chain with a fixed base in which each joint is a linearly-elastic torsional spring. The shape of this chain when in static equilibrium can be represented as the solution to a discrete-time optimal control problem, with boundary conditions that vary with the position and orientation of the last link. We prove that the set of all solutions to this problem is a smooth manifold that can be parameterized by a single chart. For manipulation planning, we show several advantages of working in this chart instead of in the space of boundary conditions, particularly in the context of a sampling-based planning algorithm. Examples are provided in simulation.

 

 

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