{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/81966"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/81966","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Geometry and Algorithms for Part Fixturing, Grasping and Manipulation With Modular Fixturing Elements, a New Reconfigurable Gripper and Mobile Robots","abstract":"This thesis addresses the problem of immobilizing and manipulating parts with devices that have a mixture of discrete and continuous degrees of freedom. Immobilizing an object requires calculating the device parameters that reduce the positions and orientations of the object compatible with the contact constraints to a single point of its configuration space. Likewise, manipulating an object requires identifying the regions of its configuration space where it is free to move under the contact constraints. The kinematic theory of second order mobility of rigid bodies is used, together with the new concept of Inescapable Configuration Space region, to devise efficient algorithms for planning immobilizing fixtures, grasps, in-hand manipulation sequences and obstacle avoidance manipulation plans for parts with known geometry. This approach is applied to three different mechanisms: a fixturing device assembled from standard modular elements, a novel reconfigurable gripper, and a team of mobile robots.","abstract_html":"This thesis addresses the problem of immobilizing and manipulating parts with devices that have a mixture of discrete and continuous degrees of freedom. Immobilizing an object requires calculating the device parameters that reduce the positions and orientations of the object compatible with the contact constraints to a single point of its configuration space. Likewise, manipulating an object requires identifying the regions of its configuration space where it is free to move under the contact constraints. The kinematic theory of second order mobility of rigid bodies is used, together with the new concept of Inescapable Configuration Space region, to devise efficient algorithms for planning immobilizing fixtures, grasps, in-hand manipulation sequences and obstacle avoidance manipulation plans for parts with known geometry. This approach is applied to three different mechanisms: a fixturing device assembled from standard modular elements, a novel reconfigurable gripper, and a team of mobile robots.","abstract_has_math":false,"creators":["Sudsang, Attawith"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"Ph.D.","degree_level":"Dissertation","degree_discipline":"Computer Science","degree_department":null,"school":null,"contributors":["Ponce, Jean"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2015,"date_issued":"2015-09-25T20:21:13Z","date_published":"2015-09-25T20:21:13Z","updated_at":"2026-07-22T22:26:17Z","subjects":["Engineering, Electronics and Electrical"],"languages":["eng"],"rights":[],"rights_urls":[],"identifier_entries":[{"key":"dc:identifier","label":"Identifier","values":["(MiAaPQ)AAI9953151"],"render_values":[{"text":"(MiAaPQ)AAI9953151","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/2142/81966","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Ponce, Jean"]},{"key":"dc:creator","label":"Author","values":["Sudsang, Attawith"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2015-09-25T20:21:13Z","10000-01-01","1999"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Computer Science"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Dissertation"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Ph.D."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Engineering, Electronics and Electrical"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["eng"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/81966","(MiAaPQ)AAI9953151"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["This thesis addresses the problem of immobilizing and manipulating parts with devices that have a mixture of discrete and continuous degrees of freedom. Immobilizing an object requires calculating the device parameters that reduce the positions and orientations of the object compatible with the contact constraints to a single point of its configuration space. Likewise, manipulating an object requires identifying the regions of its configuration space where it is free to move under the contact constraints. The kinematic theory of second order mobility of rigid bodies is used, together with the new concept of Inescapable Configuration Space region, to devise efficient algorithms for planning immobilizing fixtures, grasps, in-hand manipulation sequences and obstacle avoidance manipulation plans for parts with known geometry. This approach is applied to three different mechanisms: a fixturing device assembled from standard modular elements, a novel reconfigurable gripper, and a team of mobile robots.","Made available in DSpace on 2015-09-25T20:21:13Z (GMT). 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Immobilizing an object requires calculating the device parameters that reduce the positions and orientations of the object compatible with the contact constraints to a single point of its configuration space. Likewise, manipulating an object requires identifying the regions of its configuration space where it is free to move under the contact constraints. The kinematic theory of second order mobility of rigid bodies is used, together with the new concept of Inescapable Configuration Space region, to devise efficient algorithms for planning immobilizing fixtures, grasps, in-hand manipulation sequences and obstacle avoidance manipulation plans for parts with known geometry. This approach is applied to three different mechanisms: a fixturing device assembled from standard modular elements, a novel reconfigurable gripper, and a team of mobile robots.","Made available in DSpace on 2015-09-25T20:21:13Z (GMT). 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