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TECHIN 517 - ROBOTICS LAB II

ROBOT MANIPULATION

WEEK 4 | WEDNESDAY | APR 20, 2022

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ROBOT MANIPULATION

  • What is the goal of manipulation?
    • Change the state of the environment
  • In what ways can the environment change?
    • Objects can be moved to new poses
    • States of objects can be changed

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OBJECT TYPES

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Rigid: e.g. pill bottle

Articulated, e.g. scissors

Non-rigid, e.g. towel

Fluids, e.g. soup

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OBJECT STATES

  • How many DoFs does the object have?

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OBJECT STATES

  • How many DoFs does the object have?

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OBJECT STATES

  • How many DoFs does the object have?

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MANIPULATION TYPES

  • Prehensile
    • Take full control off all DoFs of object
    • All robot end effector movements translated to object movements
  • Non-prehensile
    • Only some robot movements translated to object
    • A subset of DoFs controlled, environment supports other DoFs

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PICK-AND-PLACE

  • Grasping
  • Motion planning
  • Placement

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GRASPING

  • Where to put the gripper?
    • Given: full geometry of the object

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GRASPING

  • Where to put the gripper?
    • Given: full geometry of the object

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PICK-AND-PLACE

  • Where to put the gripper?
    • Given: some points from a pointcloud

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ROBOT MANIPULATION

  • Pick-up and place << most work focus on this
  • Non-prehensile
  • Assembly/disassembly
  • Object state change
  • Tool use

Object types:

Rigid: e.g. pill bottle

Articulated, e.g. scissors

Non-rigid, e.g. towel

Fluids, e.g. soup

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CORE PROBLEM: KINEMATICS

𝛩0

(x0, y0)

Forward kinematics:

Given

Determine

α

β

x

y

𝛩

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CORE PROBLEM: KINEMATICS

𝛩0

(x0, y0)

Inverse kinematics:

Given

Determine

x

y

𝛩

α

β

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MOTION PLANNING

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ASSIGNMENT #4

  • Post #1:End-effector teleoperation
  • Post #2: Target teleoperation