Design and Control of a Novel 3D Casting Manipulator
- Autori: Fagiolini, A.; Belo, F.; Catalano, M.; Alicino, A.; Bonomo, F.; Bicchi, A.
- Anno di pubblicazione: 2010
- Tipologia: Proceedings (TIPOLOGIA NON ATTIVA)
- OA Link: http://hdl.handle.net/10447/62947
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.