Parts Assembly and Sorting by Throwing Manipulation: Planning and Control∗
نویسندگان
چکیده
This paper presents optimal trajectory planning and iterative learning control for a throwing manipulation which can control not only the position but also the orientation of a polygonal object robustly to uncertainties by low-degree-of-freedom robotic arm. We show experimentally the validity of the proposed method with the one-joint robotic arm. We also demonstrate the usefulness of the throwing manipulation by applying it to the parts assembly and sorting on experiments.
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