Randomized planning and control strategy for whole-arm manipulation of a slippery polygonal object
Randomized planning and control strategy for whole-arm manipulation of a slippery polygonal object
复制标题
光滑多边形物体全臂操纵的随机规划与控制策略
DOI：
10.1109/iros.2013.6696706
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
M. Yashima
中科院分区：
文献类型：
--
作者：
T. Yamawaki;M. Yashima
提出了一种整臂操纵光滑多边形物体的规划与控制策略。首先提出了随机规划方法，以产生接触状态转换，这不仅有助于减少所需的计算量，而且还可以处理由连续系统和离散系统组成的混合系统，具有较大的搜索空间和复杂的约束条件。其次，提出了一种新的控制策略，它可以切换操作模式之间的准静态，动态，和笼状操作取决于情况。该策略不仅可以应对接触状态转换引起的系统力学变化，而且可以增加操作的可行性和可靠性。通过仿真和实验验证了所提方法的有效性。
The present paper introduces a planning and control strategy for whole-arm manipulation of a slippery polygonal object. Randomized planning methods are first proposed in order to generate contact state transitions, which help not only to reduce the amount of calculation required, but also to handle a hybrid system composed of a continuous system and a discrete system, which has a large search space and complicated constraints. Second, a novel control strategy, which can switch manipulation modes among quasi-static, dynamic, and caging manipulation depending on the situation, is proposed. This strategy not only can cope with changes in the mechanics of the system caused by contact state transitions, but also can increase the manipulation feasibility and reliability. The validity of the proposed methods is verified through simulations and experiments.