Manipulator grasping and pushing operations

The primary goal of this research is to develop theoretical tools for analysis, synthesis, and application of primitive manipulator operations. The primary method is to extend and apply traditional tools of classical mechanics. The results are of such a general nature that they address many different aspects of industrial robotics, including effector and sensor design, planning and programming tools, and design of auxiliary equipment. Some of the manipulator operations studied are: 1. Grasping an object. The object will usually slide and rotate during the period between first contact and prehension. 2. Placing an object. The object may slip slightly in the fingers upon contact with the table as the base aligns with the table. 3. Pushing. Often the final stage of mating two parts involves pushing one object into the other. In each of these operations the motion of the object is determined partly by the manipulator and partly by frictional forces. Hence the theoretical analysis focuses on the problem of partially constrained motion with friction. When inertial forces are dominated by frictional forces, we find that the fundamental motion of the object-whether it will rotate, and if so in what direction-may be determined by inspection. In many cases the motion may be predicted in detail, and in any case it is possible to find bounds on the motion. With these analytical tools it is sometimes possible to predict the outcome of a given manipulator operation, or, on the other hand, to plan an operation producing a given desired outcome. Thesis Supervisors: Tomas Lozano-Perez and Berthold K. P. Horn Titles: Assistant Professor and Associate Professor, respectively, of Computer Science and Electrical Engineering

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