论文标题
非透明对象操纵的线性时变MPC使用非独立移动机器人操纵
Linear Time-Varying MPC for Nonprehensile Object Manipulation with a Nonholonomic Mobile Robot
论文作者
论文摘要
本文提出了一种通过推动来操纵物体的技术，这是一种非骚扰的操纵运动原始的。这样的原始性涉及与机器人和操纵对象之间的摩擦相关的单方面约束。违反这种约束会在操纵过程中产生对象的滑倒，从而阻止了任务的正确成就。线性时变模型预测控制旨在正确地在控制动作中包含单方面约束。通过执行包装的推动操纵的先锋3-DX车轮机器人，在动态模拟环境中验证了该方法。
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.
