Abstract
A manipulation is generally thought of as a complex set of actions, which are used to perform a transportation of an object in the space with a movement similarly to that of a human arm when its hand holds an object. Therefore, a manipulation can be considered as related to movements of objects with a specific purpose. In this chapter concepts and procedure are presented to analyze manipulation tasks with their contents suitable for robotization. Several examples are discussed to illustrate the features of a proper manipulation analysis in selecting or using a robot.
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Notes
- 1.
The information on VAL-II herein reported is based on the Programming Manual – User's Guide to VAL-II version 2.0, Unimation, 1986.
- 2.
The information on ACL herein reported is based on the ACL Reference Guide 3rd Edition, Eshed Robotec, 1982.
- 3.
This study description has been obtained from the published papers: Ceccarelli M., Iacobone F., Carrino L., Anamateros E., "On the Manipulation of a Composite Material Roving for a 3D Winding Manufacturing", Proceedings of 26th International Symposium on Industrial Robots, Singapore, 1995, pp. .597–602; Ceccarelli M., Volante G., Carrino L., Anamateros E., "A Feeding Device for Composite Material Rovings in a Robotized 3D Winding Manufacturing", Proceedings of 27th International Symposium on Industrial Robots, Milan, 1996, pp. .987–992.
- 4.
This description has been obtained from the published paper: Ceccarelli M., "Analyzing a Robotized Workcell to Enhance Robot's Operation", Journal of Robotics and Mechatronics, 1999, Vol. 11, n.1, pp. 67–71.
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Ceccarelli, M. (2022). Analysis of Manipulations. In: Fundamentals of Mechanics of Robotic Manipulation. Mechanisms and Machine Science, vol 112. Springer, Cham. https://doi.org/10.1007/978-3-030-90848-5_2
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DOI: https://doi.org/10.1007/978-3-030-90848-5_2
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