Date of Original Version

8-2005

Type

Conference Proceeding

Abstract or Description

This paper addresses the planning and control of dynamic contact manipulation. In an earlier paper [13], we derived a constraint on the robot joint accelerations that needed to be satisfied to obtain a desired contact mode and a desired dynamic motion of the object. We proposed a technique for trajectory planning which involved planning a path in the system configuration space followed by time- scaling the path to satisfy dynamic constraints. This paper tackles a problem where only a small set of paths can be time- scaled to satisfy the constraints. We note that the dynamic constraints depend only on a subspace of the system state space. Projecting the dynamics and the constraints onto the subspace allows us to compute an analytical solution for the trajectory generation problem. We generate controllable simulations by allowing the user to control the system in the space orthogonal to the projection. We also demonstrate the construction of feedback controllers using dynamic programming

Comments

"©2005 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE."

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