Newsgroups: comp.robotics
Path: brunix!uunet!munnari.oz.au!bunyip.cc.uq.oz.au!marlin.jcu.edu.au!cpna
From: cpna@marlin.jcu.edu.au (Nizam Ahmed)
Subject: Models for Object Handling by Robots
Message-ID: <1992Oct25.234347.5262@marlin.jcu.edu.au>
Organization: James Cook University
Date: Sun, 25 Oct 92 23:43:47 GMT
Lines: 33


                 Models for Object Handling by Robot

I am doing research on models for object handling by robot, particularly
liquid handling as a part of motion planning. A brief description of the
problem goes below.

The motion planning problem which just considers the obstacle avoidance
becomes more interesting when it is combined with some other
objectives like object handling. Consider an instance of a robot arm
transfering liquid stored in a container (C1) to another container (C2). 
Such an action requires appropriate grasping of C1, lifting it up to a
suitable height, tilting it at an angle to allow pouring into C2. This
angle is continously changed as the liquid flows from C1 to C2. Solving
this problem such that no liquid spills out not only requires considering 
the spatial constraints but constraints imposed by the physical
properties of the material being handled, containers C1 and C2, the grasping
mechanism and the robot kinematics.

This modelling incorporates physical properties of liquids like
specific gravity, surface tension, viscosity, container shapes, grasping
capabilities and the dynamic nature of the action involved in such a
task to be achieved by a robot.

I would like to get some research directions on the above problem.
Please let me know if you have come across published articles dealing
with above problem, technical reports, material archived on any ftp
site or name of the group/dept working on similar problems.

Thanking you in advance.

Nizam
nizam@coral.cs.jcu.edu.au
