Optimal Shape and Motion Planning for Dynamic Planar Manipulation
Name
54.pdf
Description
Accepted version
Size
1.98 MB
Format
Adobe PDF
Checksum (MD5)
f87333c8b2d68407150afba2bd93d627
Author(s)
Taylor, Orion Thomas
Rodriguez Garcia, Alberto
Date Issued
July 2017
Journal
Robotics: Science and Systems XIII
Publisher
Robotics: Science and Systems Foundation
Citation
Taylor, Orion and Alberto Rodriguez."Optimal Shape and Motion Planning for Dynamic Planar Manipulation." Robotics: Science and Systems XIII, July 2017, Cambridge, Massachusetts, Robotics: Science and Systems Foundation, July 2017.
Version
Author's final manuscript
Abstract
This paper presents a framework for optimizing both the shape and the motion of a planar rigid end-effector to satisfy a desired manipulation task. We frame this design problem as a nonlinear optimization program, where shape and motion are decision variables represented as splines. The task is represented as a series of constraints, along with a fitness metric,which force the solution to be compatible with the dynamics of frictional hard contact while satisfying the task. We illustrate the approach with the example problem of moving a disk along a desired path or trajectory, and we verify it by applying it to three classical design problems: the rolling brachistochrone, the design of teeth of involute gears, and the pitch curve of rolling cams. We conclude with a case study involving the optimization and real implementation of the shape and motion of a dynamic throwing arm.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.15607/rss.2017.xiii.055
