ME5286CourseNotes10-09

# ME5286CourseNotes10-09 - Task Primitives and Programming...

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In order to manipulate objects in space, must consider: OBJ : Object coord frame w.r.t. O F : Coord frame attached to feature defined w.r.t. OBJ G : Pos’n & Orientation of gripper tip (located by E ) defined w.r.t. feature F

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Task Sequence: Move P1 Move to PT over Pin Move P2 Approach pin from overhead Grasp Move P3 Lift pin vertically Move P4 Move to PT above hole with pin oriented along hole axis Move P5 Insert Pin Release Let go of pin Move P6 Move gripper back away from pin Note: P1 and P3 are typically the same Define following transformations: P Pos’n of pin in base coord B Pos’n of block in base coord B H i Pos’n of i th hole w.r.t. block P PG Pos’n of gripper * when holding pin w.r.t. pin (* as defined by E) P PA Pos’n of approach above pin P PD Pos’n of departure above pin H PHA Pos’n of pin above hole for approach H PIN Pos’n of inserted pin
To define P : Place gripper on pin at pick up pos’n ZT 6 E= P PG P= ZT 6 EPG -1 PG typically just involves a known rotation Simpler solution: Let pin axes align with gripper axes, or … incorporate rotation into E

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Assuming P PA is desired at dist Z above P Then P PA= If alternate departure point desired, lift pin in gripper to position PD ZT 6 E = P PD PG Define PD =P -1 ZT 6 E(PG) -1
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