Robotic manipulation by pushing at a single point with constant velocity : modeling and techniques

Behrens, MJ

Robotic manipulation by pushing at a single point with constant velocity : modeling and techniques

Behrens, MJ

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Publication Type:: Thesis
Issue Date:: 2013

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Field	Value	Language
dc.contributor.author	Behrens, MJ
dc.date.accessioned	2013-11-21T03:52:27Z
dc.date.available	2013-11-21T03:52:27Z
dc.date.issued	2013
dc.identifier.uri	http://hdl.handle.net/10453/24094
dc.description	University of Technology, Sydney. Faculty of Engineering and Information Technology.	en_US
dc.description.abstract	In many mobile robotic manipulation tasks it is desirable to interact with the robot’s surroundings without grasping the object being manipulated. Non-prehensile manipulation allows a robot to interact in situations which would otherwise be impossible due to object size or mass. This thesis investigates the most general pushing mode, that of a single contact point, formed either as a fixed point at a vertex or as a single rolling contact between two curved surfaces with a view to enable the manipulation of common household objects such as bins or coffee tables by a simple mobile robot. The investigation is limited to objects which possess a flat base and are able to slide on a flat, horizontal support surface. The derivation of a mathematical model is presented for an object pushed under these conditions, where the system accelerations influence the object motion through the dynamic effects of inertia and friction rendering the quasi-static assumption invalid. Numerical simulations explore the system behavior under a variety of configurations revealing the effect of the dynamic forces on the object motion and the existence of stable configurations, under certain conditions, where an object is pushed by a curved fence. The stable pushing behavior is confirmed experimentally. The mathematical model is utilized to generate near time-optimal pushing trajectories to manipulate an object to a desired goal location and control strategies to compensate for uncertainty in the physical parameters.	en_US
dc.format	Thesis (PhD)	en_US
dc.language.iso	en	en_US
dc.relation	https://opus.lib.uts.edu.au/bitstream/10453/24094/2/02whole.pdf
dc.rights	info:eu-repo/semantics/openAccess
dc.rights	au.edu.uts.lib/ppc
dc.rights	The author owns the copyright in this thesis including all reproduction and reuse rights for the work. The work may not be altered without the permission of the copyright owner. Attribution is essential when quoting or paraphrasing from this thesis.
dc.subject	Manipulation.	en
dc.subject	Pushing.	en
dc.subject	Non-prehensile.	en
dc.subject	Robotics.	en
dc.title	Robotic manipulation by pushing at a single point with constant velocity : modeling and techniques	en_US
dc.type	Thesis
utslib.copyright.status	open_access

Abstract:

In many mobile robotic manipulation tasks it is desirable to interact with the robot’s surroundings without grasping the object being manipulated. Non-prehensile manipulation allows a robot to interact in situations which would otherwise be impossible due to object size or mass. This thesis investigates the most general pushing mode, that of a single contact point, formed either as a fixed point at a vertex or as a single rolling contact between two curved surfaces with a view to enable the manipulation of common household objects such as bins or coffee tables by a simple mobile robot. The investigation is limited to objects which possess a flat base and are able to slide on a flat, horizontal support surface. The derivation of a mathematical model is presented for an object pushed under these conditions, where the system accelerations influence the object motion through the dynamic effects of inertia and friction rendering the quasi-static assumption invalid. Numerical simulations explore the system behavior under a variety of configurations revealing the effect of the dynamic forces on the object motion and the existence of stable configurations, under certain conditions, where an object is pushed by a curved fence. The stable pushing behavior is confirmed experimentally. The mathematical model is utilized to generate near time-optimal pushing trajectories to manipulate an object to a desired goal location and control strategies to compensate for uncertainty in the physical parameters.

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http://hdl.handle.net/10453/24094