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IROS
2009
IEEE

Automated manipulation of spherical objects in three dimensions using a gimbaled air jet

10 years 6 months ago
Automated manipulation of spherical objects in three dimensions using a gimbaled air jet
— This paper presents a mechanism and a control strategy that enables automated non-contact manipulation of spherical objects in three dimensions using air flow, and demonstrates several tasks that can be performed with such a system. The mechanism is a 2-DOF gimbaled air jet with a variable flow rate. The control strategy is feedback linearization based on a classical fluid dynamics model with state estimates from stereo vision data. The tasks include palletizing, sorting, and ballistics. All results are verified with hardware experiments.
Aaron Becker, Robert Sandheinrich, Timothy Bretl
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Aaron Becker, Robert Sandheinrich, Timothy Bretl
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