| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 712556 | IFAC Proceedings Volumes | 2006 | 6 Pages |
Abstract
In this paper, we study the manipulation planning problem for an ability-limited robot. The goal of manipulation is to push an object from an initial configuration to a goal configuration. The robot is restricted to perform only two kinds of motion in the plane. One is pushing the object forward with a constant and fixed velocity; The other one is rotating the object along a fixed-radius circle with a constant angular velocity. By the aid of optimal control theory, we prove that the optimal trajectory consists at most two switchings between these two actions. A planning method has been implemented to find the optimal trajectory. Manipulation examples are provided to demonstrate the proposed manipulation method.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Qingguo Li, Shahram Payandeh,