Nonholonomic Cooperative Manipulation in the Plane Using Linear Complementarity Formulation

Nardos Ayele Ashenafi, Aykut C. Satici

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

This paper presents a framework in which a group of nonholonomic wheeled mobile robots are cooperatively utilized to manipulate a polygonal object in the plane. In this framework, the robots are assumed to contact the object without friction, applying forces normal to the object’s boundary. Contacts between the wheeled mobile robots and object are resolved through Moreau’s time stepping algorithm with a linear complementarity problem. The robots are controlled so that the object’s pose is asymptotically stabilized without the need for trajectory planning. Lastly, a recovery controller is proposed that places agents on the boundary of the object with a force closure grasp. An extensive simulation study is presented to support the proposed framework.

Original languageAmerican English
Title of host publication2021 IEEE Conference on Control Technology and Applications (CCTA)
StatePublished - 1 Jan 2021

Keywords

  • conferences
  • force
  • friction
  • mobile robots
  • time factors
  • trajectory planning

EGS Disciplines

  • Biomedical Engineering and Bioengineering
  • Mechanical Engineering

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