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...

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Bibliographic Details
Published in2009 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 781 - 786
Main Authors Becker, A., Sandheinrich, R., Bretl, T.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2009
Subjects
Automatic control
Control systems
Fluid dynamics
Fluid flow control
Hardware
Linear feedback control systems
Sorting
State estimation
State feedback
Stereo vision
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ISBN9781424438037
1424438039
ISSN2153-0858
DOI10.1109/IROS.2009.5354427

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Summary: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.
ISBN:9781424438037
1424438039
ISSN:2153-0858
DOI:10.1109/IROS.2009.5354427