 | | Mechanics of Solids
A Journal of Russian Academy of Sciences | | Founded
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936 |
Archive of Issues
| Total articles in the database: | | 11223 |
| In Russian (Èçâ. ÐÀÍ. ÌÒÒ): | | 8011
|
| In English (Mech. Solids): | | 3212 |
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| I. R. Belousov, A. A. Boguslavsky, S. N. Emel'yanov, D. E. Okhotsimsky, A. K. Platonov, V. V. Sazonov, and S. M. Sokolov, "Interaction of a manipulation robot with spherical pendula," Mech. Solids. 36 (1), 159-167 (2001) |
| Year |
2001 |
Volume |
36 |
Number |
1 |
Pages |
159-167 |
| Title |
Interaction of a manipulation robot with spherical pendula |
| Author(s) |
I. R. Belousov (Moscow)
A. A. Boguslavsky (Moscow)
S. N. Emel'yanov (Moscow)
D. E. Okhotsimsky (Moscow)
A. K. Platonov (Moscow)
V. V. Sazonov (Moscow)
S. M. Sokolov (Moscow) |
| Abstract |
Control algorithms are described for a manipulation robot interacting
with moving objects- one or two tennis balls suspended from threads
and performing oscillations whose parameters
are not known in advance. The control unit of the robot involves
a computer vision system which plays the role of a measuring device.
The measurement data generated by this system are processed with the use
of a mathematical model of oscillations of the balls. This permits one
to determine the actual state of the motion, make a prediction
for this motion, as well as plan and implement one of the operations
prescribed in advance. We consider three types of operations according
to which the robot must (i) hit a swinging ball with the bat placed
in the robot gripper so as to hit a fixed target with this ball;
(ii) hit a swinging ball with the bat so that this ball hit
another swinging ball; and (iii) hit a swinging ball with the bat
so that this ball hit another swinging ball and that the latter ball
hit a fixed target. These operations are enumerated in the order
of increasing their complexity; their implementation is characterized
by different degrees of reliability. The experimental estimates
of reliability for the implementation of these operations make it possible
to judge the limiting performance characteristics of the control system.
The parameters of the experimental installation and the results
of the experiments are presented. |
| References |
| 1. | D. E. Okhotsimsky, A. K. Platonov, I. R. Belousov,
A. A. Boguslavsky, G. K. Borovin, S. N. Emel'yanov, M. M. Komarov,
V. V. Sazonov, and S. M. Sokolov, "Vision systems for automatic capturing a
moving object by the robot manipulator," in Proc. IEEE/RSJ Intern. Conf.
on Intelligent Robots and Systems IROS'97, pp. 1073-1079, Grenoble,
France, 1997. |
| 2. | D. E. Okhotsimsky, A. K. Platonov, I. R. Belousov,
A. A. Boguslavsky, G. K. Borovin, S. N. Emel'yanov, V. V. Sazonov, and
S. M. Sokolov, "Real time hand-eye system: Interaction with moving
objects," Proc. IEEE Intern. Conf. on Robotics and Automation ICRA 98,
pp. 1683-1688, Lauven, Belgium, 1997. |
| 3. | I. R. Belousov, A. A. Boguslavsky, S. N. Emel'yanov,
D. E. Okhotsimsky, A. K. Platonov, V. V. Sazonov, and S. M. Sokolov,
"Capture of a moving object by a manipulation robot," Izv. AN. MTT
[Mechanics of Solids], No. 4, pp. 102-116, 1998. |
| 4. | B. Bishop and M. Spong, "Vision-based objective selection for
robust ballistic manipulation," Proc. IEEE Intern. Conf. on Robotics and
Automation ICRA 98, Workshop WS-2 "Robust vision and vision-based control
of motion," Lauven, Belgium, 1998. |
|
| Received |
03 September 1999 |
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