Geometry and Algorithms for Part Fixturing, Grasping and Manipulation With Modular Fixturing Elements, a New Reconfigurable Gripper and Mobile Robots

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.

Name thesis:degree_name

Ph.D.

Level thesis:degree_level

Dissertation

Discipline thesis:degree_discipline

Computer Science

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2015

Author dc:creator

• Sudsang, Attawith

Contributors dc:contributor

• Ponce, Jean

• Engineering, Electronics and Electrical

Language dc:language

eng

Identifier

(MiAaPQ)AAI9953151

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/81966