Tesi etd-09072021-102603 |
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Tipo di tesi
Tesi di laurea magistrale
Autore
BONANNI, ALESSANDRO
URN
etd-09072021-102603
Titolo
On the use of an elastic wrist for enhancing throwing capabilities of a Cobot
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Prof. Salaris, Paolo
correlatore Prof. Grioli, Giorgio
correlatore Prof. Bicchi, Antonio
correlatore Prof. Grioli, Giorgio
correlatore Prof. Bicchi, Antonio
Parole chiave
- cobot
- dynamic manipulation
- elastic manipulator
- elastic wrist
- throwing
Data inizio appello
30/09/2021
Consultabilità
Tesi non consultabile
Riassunto
In this thesis it has been studied the effect of concentrated elasticity in the cobot wrist for throwing small dimension objects. The throwing motion planning is addressed by defining a nonlinear optimal control problem (OCP) and solving it using the direct solution approach. Two kinds of throwing motion tasks have been studied: the throwing motion at maximum distance and the throwing motion in a desired three dimensional position.The simulations and the experimental results demonstrate the effectiveness of the proposed framework
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