Dynamic Manipulation of an Unknown Object Under Compliant Non-holonomic Constraints

• Published in: International journal of control, automation, and systems Vol. 21; no. 6; pp. 1939 - 1949
• Main Authors: Garcia-Rodriguez, Rodolfo, Parra-Vega, Vicente, Pantoja-Garcia, Luis, Olguín-Díaz, Ernesto
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.06.2023; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Constraints; Control; Deformation effects; End effectors; Engineering; Formability; Mechatronics; Regular Papers; Robot control; Robotics; Task complexity; Viscoelastic damping; 제어계측공학; non-holonomic constraints; rigid robot fingers; Manipulation; soft finger-tip
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-021-1075-z

There are many robot control schemes where the end-effector is subject to holonomic or non-holonomic constraints. However, the literature has overlooked the problem of simultaneous holonomic and nonholonomic constraints. In particular, the case of constrained tangent force with a normal force to manipulate an object. In this paper, to study this problem, it is considered two 2D rigid robot fingers whose end-effectors are equipped with hemispherical deformable tips in contact with a rigid object. If the radius changes when force is exerted, we can notice a 1D-tangent constraint force and a 1D-normal compliant force arise simultaneously from the so-called compliant nonholonomic constraint. An energy reshaping controller is proposed to ensure simultaneously the convergence of the normal and tangential constraint forces assuming nonlinear viscoelastic damping. A representative simulation study shows the advantages of the constraints forces, in complex dexterity tasks, under the assumption that knowledge of the non-regular object is unknown.