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arXiv 2003.102472020-03-23cs.RO

Linear Time-Varying MPC for Nonprehensile Object Manipulation with a Nonholonomic Mobile Robot

University of Modena and Reggio Emilia（摩德纳-雷焦艾米利亚大学）；University of Naples（那不勒斯大学）

Filippo Bertoncelli, Fabio Ruggiero, Lorenzo Sabattini

英文摘要：

This paper proposes a technique to manipulate an object with a nonholonomic mobile robot by pushing, which is a nonprehensile manipulation motion primitive. Such a primitive involves unilateral constraints associated with the friction between the robot and the manipulated object. Violating this constraint produces the slippage of the object during the manipulation, preventing the correct achievement of the task. A linear time-varying model predictive control is designed to include the unilateral constraint within the control action properly. The approach is verified in a dynamic simulation environment through a Pioneer 3-DX wheeled robot executing the pushing manipulation of a package.

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