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Document type:
Konferenzbeitrag 
Author(s):
Pekarovskiy, A.; Buss, M. 
Title:
Optimal Control Goal Manifolds for Planar Nonprehensile Throwing 
Abstract:
This paper presents a throwing motion planner based on a goal manifold for two-point boundary value problem. The article outlines algorithmic and geometric issues for planar throwing of rigid objects with a nonprehensile end-effector. Special attention is paid to the challenge of controlling a desired 6-dimensional state of the object with a planar 3-DoF robot. Modeling of the contacts is discussed using a state vector of the coupled robot and object dynamics. Robustness against...    »
 
Book / Congress title:
Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS) 
Organization:
IEEE 
Date of congress:
November 3-7, 2013 
Year:
2013 
Semester:
WS 13-14