Robotic box pushing under indeterminate anisotropic friction properties
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Robotic box pushing under indeterminate anisotropic friction properties Amir Zarei Khabjani1 · Hossein Karimpour2
· Mehdi Keshmiri3
Received: 21 April 2020 / Revised: 14 October 2020 / Accepted: 18 October 2020 © Springer-Verlag GmbH Germany, part of Springer Nature 2020
Abstract Manipulation and secure transportation of loads by robotic manipulators along predetermined paths is still an open challenge in the robotics field. In this article, the problem of pushing and driving an object on a surface employing a robot to reach a specific destination is considered under a-priori unknown friction conditions. For this purpose, the equations of motion are derived according to the limit surface conceptualization of friction force. Although friction parameters may be considered locally constant, nonetheless they gradually vary over large surfaces. The friction term is thus faced with a slowly time-varying indeterminacy and needs an online estimation scheme. By defining a mission consisting of pushing an object via a robot to find a path among obstacles, an optimum path is firstly planned then a non-linear model predictive controller is used to track the desired path. In order to alleviate the indeterminacy due to friction, the corresponding terms in the equations of motion are set as a disturbance which is estimated by a purposely designed observer and then eliminated in a feedforward manner. There is also no need to perform preliminary offline tests. Keywords Object pushing · Robotic manipulation · Path planning · Nonlinear model predictive control · Disturbance observer
1 Introduction Transporting objects with the use of robots in domestic or logistical environments is expected to become widely applicable but is still considered a challenge from different points of view such as securing the load transfer, providing stable handling conditions, preventing collision with the environment, paying attention to the neighbor staff and finally lowering time and energy consumption. Sometimes, load transfer in toxic environments or in spaces contaminated with nuclear or chemical materials are achieved with an automatic
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Hossein Karimpour [email protected] Amir Zarei Khabjani [email protected] Mehdi Keshmiri [email protected]
1
Mechanical Engineering Group, Pardis College, Isfahan University of Technology, Isfahan 84156-83111, Iran
2
Mechanical Engineering Department, University of Isfahan, Isfahan 81746-73441, Iran
3
Mechanical Engineering Department, Isfahan University of Technology, Isfahan, Iran
or semi-automated machine because of limitations for human presence. In the case of heavy loads or with bulky dimensions for which transporting by grasping or lifting is not possible, alternative methods such as pushing on the floor or using accessories like carts are the sole solutions. Friction is omnipresent in tasks including manipulating objects by pushing. Indeterminacy in the force distribution between the object and the supporting surface doesn’t allow to correctly predict the resultant motion for a give
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