Parts Assembly and Sorting by Throwing Manipulation: Planning and Control

Abstract

This paper presents optimal trajectory planning and iterative learning control for a throwing manipulation which can control not only the position but also the orientation of a polygonal object robustly to uncertainties by low-degree-of-freedom robotic arm. We show experimentally the validity of the proposed method with the one-joint robotic arm. We also demonstrate the usefulness of the throwing manipulation by applying it to the parts assembly and sorting on experiments.