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Details of Grant 

EPSRC Reference: GR/R09725/01
Title: Manipulation Planning Using Workspace Decomposition For Handling & Manipulating Complex Cartons
Principal Investigator: Dai, Professor J
Other Investigators:
Researcher Co-Investigators:
Project Partners:
Unilever
Department: Mechanical Engineering
Organisation: Kings College London
Scheme: Standard Research (Pre-FEC)
Starts: 25 June 2001 Ends: 24 December 2002 Value (£): 60,353
EPSRC Research Topic Classifications:
Robotics & Autonomy
EPSRC Industrial Sector Classifications:
Food and Drink Manufacturing
Related Grants:
Panel History:  
Summary on Grant Application Form
This is an adventurous research in the new area of manipulation planning based on the encountered automation problem in the packaging industry for erecting and folding complex and diverse cartons currently performed by human operators. The proposed research intends to take the cardboard carton as an equivalent mechanism, investigates the reachable and dextrous workspace related to the rotability of both the equivalent mechanism and tooling mechanisms, aims at developing the new theory of manipulation planning in a dextrous and partial dextrous workspace for handling and manipulating the cartons. In the study, the dexterity of the equivalent mechanisms will be investigated and the reachable workspace will be decomposed based on the image space mapping of the theoretical model and of the tooling mechanisms and based on the recently introduced Grashof-tupe condition. The folding sequence will be analysed and the interaction between grasps and paths will be investigated. The mapping manifold of both equivalent mechanism and tooling mechanism and their intersection will be investigated which results in kinematic transformation. The composite motion planning will then be developed with efficient grasp changes in manipulation paths for handling and manipulating cartons of different product models.
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