Visible to the public Mechanics and Manipulation of Planar Elastic Kinematic ChainsConflict Detection Enabled

TitleMechanics and Manipulation of Planar Elastic Kinematic Chains
Publication TypeConference Paper
Year of Publication2012
AuthorsZoe McCarthy, University of Illinois at Urbana-Champaign, Timothy Bretl, University of Illinois at Urbana-Champaign
Conference Name2012 IEEE International Conference on Robotics and Automation
Date Published05/2012
PublisherIEEE Computer Society
Conference LocationSt. Paul, MN
KeywordsNSA SoS Lablets Materials, science of security, Theoretical Foundations of Threat Assessment by Inverse Optimal Control, UIUC

In this paper, we study quasi-static manipulation of a planar kinematic chain with a fixed base in which each joint is a linearly-elastic torsional spring. The shape of this chain when in static equilibrium can be represented as the solution to a discrete-time optimal control problem, with boundary conditions that vary with the position and orientation of the last link. We prove that the set of all solutions to this problem is a smooth manifold that can be parameterized by a single chart. For manipulation planning, we show several advantages of working in this chart instead of in the space of boundary conditions, particularly in the context of a sampling-based planning algorithm. Examples are provided in simulation.

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