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Control of Contact Interactions with Acatastatic Nonholonomic Constraints

Department of Mechanical Engineering University of Hawaii at Manoa Honolulu, Hawaii 96822

Xiaoping Yun

Department of Electrical and Computer Engineering Naval Postgraduate School Monterey, California 93943-5121

Vijay Kumar

GRASP Laboratory University of Pennsylvania Philadelphia, Pennsylvania 19104-6228

A robot arm performs many tasks by interacting with objects or other robots in the environment. It is important for the robot arm to be able to exhibit controlled interactions with the objects and other robots. The contact motion between the robot arm and an object can be rolling, sliding, or separation. In this article, we address the problem of maintaining rolling contact between the robot arm and an external moving object. We assume that a nominal model of the motion of the moving object is available. The dynamic system that characterizes the motion of the robot arm and the moving object in this case is acatastatic and nonholonomic. We have designed a nonlinear feedback for the control of such a system that successfully maintains rolling contact. Simulation results are presented to demonstrate the effectiveness of the system.

The International Journal of Robotics Research, Vol. 16, No. 3, 357-374 (1997)
DOI: 10.1177/027836499701600306


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