Control of the Push-a-Box Operation by a Mobile Robot.

摘要

We propose a method to make a mobile robot push a box from one place to another. First, we defined the circumferential conditions and derived the equations of motion for a robot and a pushed object. The validity of the proposed dynamic equations have been proved by the experiments. We adopt the simplest goal seeking strategy for robot's motor control. The objective of control is to direct a pushed object toward the goal point. Using a spline curve the robot tries to carry the box toward the goal. Many experiments have been done, which proved the feasibility of our proposals.