Optimal grasping poses of manipulators for cooperative manipulation with passive joints

Ryo Ohta, Hisashi Osumi, Yusuke Tamura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper discusses an object handling system using three position-controlled manipulators. Mechanical compliance units are installed between each manipulator tip and its hand in order not to generate an excessive inner forces among manipulators caused by mutual positioning errors. From our previous studies, the kinematic conditions of the compliance units necessary for the position control based coordination are made clear and four passive joints are used here for each compliance unit to satisfy the conditions. In the system, the loads distributed to each manipulator tip are changed according to both the passive joint angles and the grasping points of the handled object. Therefore we firstly obtain the relationship between the grasping points and the distributed loads to each hand and then analyze the relationship between the passive joint angles and the loads given to each manipulator tip. Using these relationships we propose the searching scheme for the optimal grasping poses and passive joint angles. The effectiveness of the proposed scheme and the developed system are verified by a fundamental experiment and simulations.

Original languageEnglish
Title of host publication2014 IEEE/SICE International Symposium on System Integration, SII 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages447-452
Number of pages6
ISBN (Electronic)9781479969449
DOIs
Publication statusPublished - 2014 Jan 30
Externally publishedYes
Event7th IEEE/SICE International Symposium on System Integration, SII 2014 - Tokyo, Japan
Duration: 2014 Dec 132014 Dec 15

Publication series

Name2014 IEEE/SICE International Symposium on System Integration, SII 2014

Other

Other7th IEEE/SICE International Symposium on System Integration, SII 2014
CountryJapan
CityTokyo
Period14/12/1314/12/15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Networks and Communications
  • Information Systems

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