6533b7d7fe1ef96bd1267aa3

RESEARCH PRODUCT

Design and control of a novel 3D casting manipulator

Simone AlicinoAdriano FagioliniFelipe A. W. BeloAntonio BicchiManuel G. CatalanoFabio Bonomo

subject

EngineeringCasting manipulationbusiness.industryComputerApplications_COMPUTERSINOTHERSYSTEMSControl engineeringRoboticsRobot end effectorObject (computer science)law.inventionMechanism (engineering)Settore ING-INF/04 - AutomaticalawCasting (metalworking)Position (vector)planetary explorationTrajectoryRobotArtificial intelligencebusiness

description

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.

yearjournalcountryeditionlanguage
2010-05-012010 IEEE International Conference on Robotics and Automation
https://doi.org/10.1109/robot.2010.5509829