Control of pushing operation by a redundant manipulator

This paper describes a new approach to pushing operation from one place to another. Pushing operation doesn´t need a complicated structure of the end effector in comparison with grasping object. Therefore it is available for multipurpose. However pushing is more instability than pulling and grasping from dynamics´ point of view. Hence it is thought that its control system will be complexity. Then, in this paper, the new control method about pushing operation from one place to another by a redundant manipulator is proposed. The purpose of this research is that the center of the object tracks a certain trajectory(in this paper, sin curve) exactly. In this paper, a work space observer is adopted so as to compensate the disturbance to the object. Therefore, the acceleration control system in the object coordinate is necessary to be constructed. Basically, the drive of the object in the translational direction is realized by impedance control and the moment of the object is realized by changing the point which the end effector touches.