Tracking control for an object in pushing operation

摘要

We consider the problem of making a manipulator push an object on a flat floor with point contact to a desired position. A manipulator control method for the object to follow a planned trajectory as proposed. First, using the given distribution of frictional forces between the object and the floor, we find out a particular point, named pseudo center, on which the motion of the pushed object cart be approximates by the motion of wheeled mobile robot on its center. Then, a control rule of the pushing operation is derived by applying a tracking control rule for a nonholonomic mobile robot at the pseudo center. This method makes it possible for the robot to perform the tracking control in the pushing operation. A simulation result shows the effectiveness of the proposed method. Finally, we give an, approach to use a mobile manipulator for realizing the pushing operation. Experimental verification on the proposed method is performed and its result is described.