On dynamic whole body manipulation

Dextrous manipulation of objects by a robot arm is one of the central problems in robotics research. This paper first studies basic modeling and dynamic control problems of whole body manipulation systems by the assumption of using sensitive skin. As an example, we treat a 2-link planar whole arm manipulation system with a circle object. We first formulate the system dynamics with sliding contact and rolling friction constrains between the robot link and the object. We then develop a model-based tracking control algorithm for the robot to manipulate the center of mass of the object. Further, modeling in the presence of dynamic friction is considered. The validity of the proposed method is investigated by numerical simulations.

[1]  Naoji Shiroma,et al.  The roles of shape and motion in dynamic manipulation: the butterfly example , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[2]  Kensuke Harada,et al.  Analysis on detaching assist motion (DAM) , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[3]  Vijay Kumar,et al.  Dynamics and control of whole arm grasps , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[4]  Kensuke Harada,et al.  A sufficient condition for manipulation of Envelope Family , 2002, IEEE Trans. Robotics Autom..

[5]  Vijay Kumar,et al.  Dynamic simulation for grasping and whole arm manipulation , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[6]  Kevin M. Lynch,et al.  Dynamic manipulation with a one joint robot , 1997, Proceedings of International Conference on Robotics and Automation.

[7]  Kenneth Salisbury,et al.  Whole arm manipulation , 1988 .