 |
|
|
|
|
|
 |
|
|
|
|
|
 |
|
|
|
|
|
| Volume 21 Issue 05/06 - Publication Date: 1 May 2002 |
| Nonholonomy on Purpose |
| On Fitted Stratified and Semi-Stratified Geometric Manipulation Planning with Fingertip Relocations |
| István Harmati Dept. of Control Engineering and Information Technology Budapest University of Technology and Economics H-1117 Pázmány Péter sétány 1/D Budapest, Hungary and Experimental Robotics Laboratory School of Engineering , Béla Lantos Dept. of Control Engineering and Information Technology Budapest University of Technology and Economics H-1117 Pázmány Péter sétány 1/D Budapest, Hungary and Shahram Payandeh Experimental Robotics Laboratory School of Engineering Science Simon Fraser University Burnaby, British Columbia, Canada V5A 1S6 |
| This paper presents two object manipulation planning methods based on fitted stratified and semi-stratified approaches using finger relocations. The problem is discussed in the framework of a motion planning problem. The goal of the methods is to steer an object from an initial configuration to a final configuration while it is possible to reposition the fingertips on the surface in a predefined way. We assume there is no rolling and sliding but finger relocations are allowed. The first technique follows a pure stratified approach, however unlike the previously published method, the exact kinematic model of the manipulation system is matched with a virtual model masking the behavior of the original system. This provides a simpler model than the earlier stratified method by reducing the generally hard symbolic computation problem to a simple (almost pure numerical) one. The paper also introduces a semi-stratified manipulation planning based on the newly defined fitted system. This second method enhances the stratified motion planning with a definition of systematic finger relocation sequence. The proposed decomposition is based on the selection of suitable reference contact points. As the main benefit, the method enables a greater freedom in defining the desired fingertip trajectories. The methods are illustrated through an example of object reorientation. |
| Return to Contents |