Proceedings ArticleDOI
A binary paradigm for robotic manipulators
Gregory S. Chirikjian
- pp 3063-3069
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TLDR
This paper presents a new paradigm in robotics based on binary actuation, and develops algorithms for the optimal design of binary manipulators for pick-and-place tasks.Abstract:
Traditionally, kinematics and motion planning paradigms have addressed robots with continuous range-of-motion actuators (e.g. motors, hydraulic cylinders, etc.). Unlike motors, binary actuators have only two discrete states, both of which are stable. As a result, binary manipulators (i.e. those which are actuated with binary actuators) have a finite number of states. Major benefits of binary actuation are that extensive feedback control is not required, task repeatability can be very high, and two-state actuators are generally very inexpensive (e.g. solenoids, pneumatic cylinders, etc.), thus resulting in low cost robots. This paper presents a new paradigm in robotics based on binary actuation, and develops algorithms for the optimal design of binary manipulators for pick-and-place tasks. >read more
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References
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Journal ArticleDOI
Review of pseudoinverse control for use with kinematically redundant manipulators
Charles A. Klein,C.-H. Huang +1 more
TL;DR: Kinematically redundant manipulators have a number of potential advantages over current manipulator designs and velocity control through pseudoinverses is suggested for this type of arm.
Journal ArticleDOI
Orienting polygonal parts without sensors
TL;DR: It is shown that any polygonal part can be oriented without sensors by giving anO[n2 logn) algorithm for finding the shortest sequence of mechanical gripper actions that is guaranteed to orient the part up to symmetry in its convex hull.
Book ChapterDOI
On the Design of Computer Controlled Manipulators
TL;DR: This paper summarizes results of studies made of mechanical manipulators for use under computer control, and gives the reader an overview of problems associated with the design, kinematics and control of mechanical manipulation.
Journal ArticleDOI
Kicking the Sensing Habit
TL;DR: Some of the telltale signs of sensor dependency are listed and the tricks of the trade used on unwitting roboticists by wily sensor pushers are revealed.