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|Title:||Robotic manipulation of a rotating chain||Authors:||Pham, Hung
|Issue Date:||2018||Source:||Pham, H., & Pham, Q.-C. (2018). Robotic Manipulation of a Rotating Chain. IEEE Transactions on Robotics, 34(1), 139-150. doi:10.1109/TRO.2017.2775650||Series/Report no.:||IEEE Transactions on Robotics||Abstract:||This paper considers the problem of manipulating a uniformly rotating chain: the chain is rotated at a constant angular speed around a fixed axis using a robotic manipulator. Manipulation is quasi-static in the sense that transitions are slow enough for the chain to be always in “rotational equilibrium.” The curve traced by the chain in a rotating plane-its shape function-can be determined by a simple force analysis, yet it possesses a complex multisolutions behavior that is typical of nonlinear systems. We prove that the configuration space of the uniformly rotating chain is homeomorphic to a two-dimensional surface embedded in R3. Using that representation, we devise a manipulation strategy for transiting between different rotation modes in a stable and controlled manner. We demonstrate the strategy on a physical robotic arm manipulating a rotating chain. Finally, we discuss how the ideas developed here might find fruitful applications in the study of other flexible objects, such as in circular aerial manipulation with UAVs.||URI:||https://hdl.handle.net/10356/88949
|ISSN:||1552-3098||DOI:||http://dx.doi.org/10.1109/TRO.2017.2775650||Rights:||© 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: https://doi.org/10.1109/TRO.2017.2775650.||Fulltext Permission:||open||Fulltext Availability:||With Fulltext|
|Appears in Collections:||MAE Journal Articles|
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