Nonprehensile Manipulation: a Trajectory-Planning Perspective

Acharya, P; Nguyen, KD; La, HM; Liu, D; Chen, IM

Nonprehensile Manipulation: a Trajectory-Planning Perspective

Acharya, P Nguyen, KD La, HM Liu, D

Chen, IM

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Publisher:: Institute of Electrical and Electronics Engineers (IEEE)
Publication Type:: Journal Article
Citation:: IEEE/ASME Transactions on Mechatronics, 2020, PP, (99), pp. 1-1
Issue Date:: 2020-01-01

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Field	Value	Language
dc.contributor.author	Acharya, P
dc.contributor.author	Nguyen, KD
dc.contributor.author	La, HM
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582
dc.contributor.author	Chen, IM
dc.date.accessioned	2021-02-21T23:58:31Z
dc.date.available	2021-02-21T23:58:31Z
dc.date.issued	2020-01-01
dc.identifier.citation	IEEE/ASME Transactions on Mechatronics, 2020, PP, (99), pp. 1-1
dc.identifier.issn	1083-4435
dc.identifier.issn	1941-014X
dc.identifier.uri	http://hdl.handle.net/10453/146271
dc.description.abstract	IEEE This paper discusses nonprehensile manipulation of an asymmetric object using a robotic manipulator from a motion planning point of view. Four different aspects of the problem will be analyzed: object stability, motion planning, manipulator control, and experimental validation. Specifically, via an analysis of marginal stability of an object resting on a moving tray, the work establishes the critical accelerations of the manipulator's end-effector, below which the object's stability is guaranteed. These critical accelerations guide the design of the end-effector's motion for successful nonprehensile manipulation of the object. In particular, we propose two methods to formulate polynomial asymmetric s-curve trajectories such that the end- effector completes its motion in minimum time. In one method, the trajectory is divided into segments whose time intervals are then computed via a recursive algorithm. In the other method, we formulate an optimization problem and design the minimum-time trajectory by balancing the trade-off between the travel time and actuator effort. A series of experiments with a robotic arm is designed to validate and compare these motion planning methods in the context of nonprehensile manipulation. In addition, the experimental results demonstrate the advantages of the asymmetric s-curve motion profiles over the traditional symmetric s-curves.
dc.language	en
dc.publisher	Institute of Electrical and Electronics Engineers (IEEE)
dc.relation.ispartof	IEEE/ASME Transactions on Mechatronics
dc.relation.isbasedon	10.1109/TMECH.2020.3038591
dc.rights	© 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.	en_US
dc.rights	info:eu-repo/semantics/embargoedAccess
dc.subject	0906 Electrical and Electronic Engineering, 0910 Manufacturing Engineering, 0913 Mechanical Engineering
dc.subject.classification	Industrial Engineering & Automation
dc.title	Nonprehensile Manipulation: a Trajectory-Planning Perspective
dc.type	Journal Article
utslib.citation.volume	PP
utslib.for	0906 Electrical and Electronic Engineering
utslib.for	0910 Manufacturing Engineering
utslib.for	0913 Mechanical Engineering
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney
utslib.copyright.status	open_access	*
utslib.copyright.embargo	2022-01-01T00:00:00+1000Z
dc.date.updated	2021-02-21T23:58:07Z
pubs.issue	99
pubs.publication-status	Published
pubs.volume	PP
utslib.citation.issue	99

Abstract:

IEEE This paper discusses nonprehensile manipulation of an asymmetric object using a robotic manipulator from a motion planning point of view. Four different aspects of the problem will be analyzed: object stability, motion planning, manipulator control, and experimental validation. Specifically, via an analysis of marginal stability of an object resting on a moving tray, the work establishes the critical accelerations of the manipulator's end-effector, below which the object's stability is guaranteed. These critical accelerations guide the design of the end-effector's motion for successful nonprehensile manipulation of the object. In particular, we propose two methods to formulate polynomial asymmetric s-curve trajectories such that the end- effector completes its motion in minimum time. In one method, the trajectory is divided into segments whose time intervals are then computed via a recursive algorithm. In the other method, we formulate an optimization problem and design the minimum-time trajectory by balancing the trade-off between the travel time and actuator effort. A series of experiments with a robotic arm is designed to validate and compare these motion planning methods in the context of nonprehensile manipulation. In addition, the experimental results demonstrate the advantages of the asymmetric s-curve motion profiles over the traditional symmetric s-curves.

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http://hdl.handle.net/10453/146271