Design and Control of a Novel 3D Casting Manipulator

Adriano Fagiolini, Felipe A. W. Belo, Adriano Fagiolini, Fabio Bonomo, Simone Alicino, Manuel G. Catalano, Simone Alicino, Antonio Bicchi

Risultato della ricerca: Otherpeer review

4 Citazioni (Scopus)

Abstract

This paper focuses on casting manipulation and presents an innovative mechanism that allows objects placed in a three-dimensional space to be reached with a relatively small robot. Casting manipulation is a technique by which a robotic end-effector is thrown and its ballistic flight is controlled through a tether cable so as to reach a target object. Previous work presented a solution that is viable only when the position of the target object is perfectly known or aligned with the throwing plane. Our work extends the technique by use of a novel mechanical design of the arm, and a suitable control scheme for the flight of the end-effector, which makes it applicable for objects placed at generic positions in a three-dimensional environment. Effectiveness of the casting robot was shown during the first ESA Lunar Robotics Challenge, where our team came in the second place.
Lingua originaleEnglish
Pagine4169-4174
Numero di pagine6
Stato di pubblicazionePublished - 2010

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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