Indentification of the center of friction from pushing an object by a mobile robot

Author

Yoshikawa, Tsuneo ; Kurisu, Masamitsu

Author_Institution

Dept. of Mech. Eng., Kyoto Univ., Japan

fYear

1991

fDate

3-5 Nov 1991

Firstpage

449

Abstract

When mobile robots convey objects on a floor by pushing them, the motion of the pushed object is closely related to the distribution of the frictional force between the object and the floor. When the pushing force vector applied to an object passes through the center of friction which is the centroid of the friction distribution, the motion of the object is a pure translation. The authors describe a method for estimating the friction distribution of an object and the position of the center of friction by pushing the object several times using a manipulator mounted on a mobile robot, which also has a visual sensor. Simulation and experimental results show the effectiveness of the approach

Keywords

force control; friction; mobile robots; parameter estimation; center of friction; force control; force vector; friction distribution; frictional moment; mobile robot; object pushing; parameter estimation; Force sensors; Friction; Manipulators; Mechanical engineering; Mobile robots; Position measurement; Robot sensing systems; Robotic assembly; Sensor phenomena and characterization;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on

Conference_Location

Osaka

Print_ISBN

0-7803-0067-X

Type

conf

DOI

10.1109/IROS.1991.174510

Filename

174510