This paper proposes a formation-finding procedure for the non-prehensile transportation of arbitrarily-shaped polygonal objects with differentially-driven mobile robots. The proposed procedure is conceptually novel by taking a multibody system dynamics perspective, explicitly taking into account the robots’ non-holonomic constraints. Being based on proper first principles such as Jourdain’s principle, if the modeling assumptions are met, the approach nominally guarantees to only produce formations that are actually useful to manipulate the object in a given dynamic situation. As a byproduct, the scheme can directly provide a set of robot propulsion forces fitting the desired object motion. Simulation results confirm the chosen formations’ favorable qualities.
Finding Formations for the Non-prehensile Object Transportation with Differentially-Driven Mobile Robots
CISM Courses and Lectures
Symposium on Robot Design, Dynamics and Control ; 2022 ; Udine, Italy July 04, 2022 - July 07, 2022
23.06.2022
8 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch