Assembly Planning of Ring-shaped Elastic Objects
نویسندگان
چکیده
This paper discusses a motion planning method for assembling a ring-shaped elastic part to a cylindrical part by using a dual-arm manipulator. When assembling a ring-shaped elastic part, it is important to keep the amount of elastic deformation as small as possible during the assembly task. To achieve this purpose, we show that it is effective to utilize the Covariant Hamiltonian Optimization and Motion Planing (CHOMP) method. We introduce an energy based objective functional that is obtained by adding a term related to the potential energy of the elastic object. This objective functional yields a trajectory where the deformation of the elastic object is minimized. To confirm the validity of the proposed planner, experimental results on the Baxter robot are presented using two different ring-shaped objects.
منابع مشابه
Transmittance of MIM Waveguides Containing Semi-Circular Ring Shaped and Rectangular Ring Shaped Grooves
In this paper the transmittance of metal-insulator-metal (MIM) waveguides containing semi-circular ring shaped and rectangular ring shaped grooves are investigated. By varying groove parameters their effects on the transmittance of the MIM waveguides are investigated. The results show that the transmittance spectra of the waveguides have maximum and minimum points, and by using appropriate para...
متن کاملEffect of length and rigidity of microtubules on the size of ring-shaped assemblies obtained through active self-organization.
The microtubule (MT)-kinesin biomolecular motor system has attracted considerable attention due to its possible applications in artificial biomachines. Recently, an active self-organization (AcSO) method has been established to integrate MT filaments into highly organized assembled structures. The ring-shaped MT assembly, one of the structures derived from the AcSO of MTs, can convert the trans...
متن کاملTopological binding and elastic interactions of microspheres and fibres in a nematic liquid crystal.
We present a detailed analysis of topological binding and elastic interactions between a long, and micrometer-diameter fiber, and a microsphere in a homogeneously aligned nematic liquid crystal. Both objects are surface treated to produce strong perpendicular anchoring of the nematic liquid crystal. We use the opto-thermal micro-quench of the laser tweezers to produce topological defects with p...
متن کاملA Novel Small E–Ring Shaped Monopole Antenna with Dual Band-Notch Function for UWB Wireless Communications
This paper presents an E-ring shaped printed monopole antenna for UWB applications with dual notched bands performance. In order to generate single frequency band notch function, we applied a U-ring shaped monopole antenna, and by inserting a rectangular ring in the centre of it an E-ring shaped radiating patch created and a dual band-notch function can be achieved. The measured bandwidth of th...
متن کاملPlanning Paths for Elastic Objects under Manipulation Constraints
This paper addresses the problem of planning paths for an elastic object from an initial to a final configuration in a static environment. It is assumed that the object is manipulated by two actuators and that it does not touch the obstacles in its environment at any time. The object may need to deform to achieve a collision-free path from the initial to the final configuration. Any required de...
متن کامل