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.

Fagiolini, A., Belo, F., Catalano, M., Alicino, A., Bonomo, F., Bicchi, A. (2010). Design and Control of a Novel 3D Casting Manipulator. In Proceedings of International Conference on Robotics and Automation (pp. 4169-4174) [10.1109/ROBOT.2010.5509829].

Design and Control of a Novel 3D Casting Manipulator

FAGIOLINI, Adriano;
2010-01-01

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.
Settore ING-INF/04 - Automatica
978-1-4244-5040-4
Fagiolini, A., Belo, F., Catalano, M., Alicino, A., Bonomo, F., Bicchi, A. (2010). Design and Control of a Novel 3D Casting Manipulator. In Proceedings of International Conference on Robotics and Automation (pp. 4169-4174) [10.1109/ROBOT.2010.5509829].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/10447/62947
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