ME5286CourseNotes10-09 - Task Primitives and Programming...

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Unformatted text preview: Task Primitives and Programming Task descriptions Task: Insert pin in block In order to manipulate objects in space, must consider: OBJ : Object coord frame w.r.t. O F : Coord frame attached to feature deFned w.r.t. OBJ G : Pos’n & Orientation of gripper tip (located by E ) deFned w.r.t. feature F 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 Defne 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 deFned 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 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 Defne 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 deFned by E) P PA Pos’n of approach above pin P PD Pos’n of departure above pin...
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This note was uploaded on 11/25/2009 for the course MECH 371 taught by Professor Craig during the Spring '09 term at Hong Kong Institute of Vocational Education.

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ME5286CourseNotes10-09 - Task Primitives and Programming...

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