Geometry and Algorithms for Part Fixturing, Grasping and Manipulation With Modular Fixturing Elements, a New Reconfigurable Gripper and Mobile Robots
Sudsang, Attawith
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https://hdl.handle.net/2142/81966
Description
Title
Geometry and Algorithms for Part Fixturing, Grasping and Manipulation With Modular Fixturing Elements, a New Reconfigurable Gripper and Mobile Robots
Author(s)
Sudsang, Attawith
Issue Date
1999
Doctoral Committee Chair(s)
Ponce, Jean
Department of Study
Computer Science
Discipline
Computer Science
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
Ph.D.
Degree Level
Dissertation
Keyword(s)
Engineering, Electronics and Electrical
Language
eng
Abstract
This thesis addresses the problem of immobilizing and manipulating parts with devices that have a mixture of discrete and continuous degrees of freedom. Immobilizing an object requires calculating the device parameters that reduce the positions and orientations of the object compatible with the contact constraints to a single point of its configuration space. Likewise, manipulating an object requires identifying the regions of its configuration space where it is free to move under the contact constraints. The kinematic theory of second order mobility of rigid bodies is used, together with the new concept of Inescapable Configuration Space region, to devise efficient algorithms for planning immobilizing fixtures, grasps, in-hand manipulation sequences and obstacle avoidance manipulation plans for parts with known geometry. This approach is applied to three different mechanisms: a fixturing device assembled from standard modular elements, a novel reconfigurable gripper, and a team of mobile robots.
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