Mobile manipulation of flexible objects under deformation constraints

Author

Tanner, Herbert G.

Author_Institution

Mech. Eng. Dept., Univ. of New Mexico, Albuquerque, NM, USA

Volume

22

Issue

1

fYear

2006

Firstpage

179

Lastpage

184

Abstract

We develop a velocity field tracking-control scheme with proportional integral force feedback to transport and manipulate deformable material with a mobile manipulator. We assume that the deformable object is a damped underactuated mechanical system. The input-to-state stability properties of its zero dynamics are used to derive bounds on the admissible end-effector velocities and accelerations. It is shown both analytically and in simulation that using deformation feedback, we can avoid exciting excessive object deformations.

Keywords

deformation; end effectors; feedback; force control; manipulators; mobile robots; position control; stability; admissible end-effector velocities; damped underactuated mechanical system; deformable material manipulation; deformation constraints; deformation feedback; input-to-state stability; mobile flexible object manipulation; proportional integral force feedback; velocity field tracking-control scheme; zero dynamics; Acceleration; Automatic control; Deformable models; Feedback; Force control; Manipulator dynamics; Open loop systems; Robot kinematics; Stability; Vibrations; Deformable objects; force control; mobile manipulators; nonholonomic systems;

fLanguage

English

Journal_Title

Robotics, IEEE Transactions on

Publisher

ieee

ISSN

1552-3098

Type

jour

DOI

10.1109/TRO.2005.861452

Filename

1589011