用螺旋理论设计滚动翻转物体的路径，让机械臂更高效精准地搬动圆柱体。
Motion Planning for Object Manipulation by Edge-Rolling
- 通过常量螺旋位移序列模拟物体沿边缘滚动的抓取动作。
- 在机器人关节限制下，优化生成从起点到终点的滚动+转动路径。
- 适用于需要灵活搬运重物的工业场景，尤其适合带曲边的物体。
搬运重物的常见方式是在操作过程中始终保持物体至少一点与环境接触。当物体为圆柱形或具有曲边时，除了滑动和绕点旋转外，沿边缘滚动也能有效满足该条件，且具备更高的效率和机动性。本文提出一种新方法，利用螺旋理论将任意路径上的抓取式边缘滚动运动近似为一系列常量螺旋位移，进而构建基于任务空间的路径生成算法。该算法通过优化求解，在考虑机器人关节限制的前提下，生成由滚动与转动组成的动作序列，实现两个给定构型间的物体操控。实验中使用Franka Emika Panda机械臂，成功实现了圆柱体在直线与曲线路径上的操控验证。
原文摘要 · Abstract (English)
A common way to manipulate heavy objects is to maintain at least one point of the object in contact with the environment during the manipulation. When the object has a cylindrical shape or, in general, a curved edge, not only sliding and pivoting motions but also rolling the object along the edge can effectively satisfy this condition. Edge-rolling offers several advantages in terms of efficiency and maneuverability. This paper aims to develop a novel approach for approximating the prehensile edge-rolling motion on any path by a sequence of constant screw displacements, leveraging the principles of screw theory. Based on this approach, we proposed an algorithmic method for task-space-based path generation of object manipulation between two given configurations using a sequence of rolling and pivoting motions. The method is based on an optimization algorithm that takes into account the joint limitations of the robot. To validate our approach, we conducted experiments to manipulate a cylinder along linear and curved paths using the Franka Emika Panda manipulator.
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