Abstract
In this paper, we study the manipulation planning problem for an ability-limited robot. The goal of manipulation is to push an object from an initial configuration to a goal configuration. The robot is restricted to perform only two kinds of motion in the plane. One is pushing the object forward with a constant and fixed velocity; The other one is rotating the object along a fixed-radius circle with a constant angular velocity. By the aid of optimal control theory, we prove that the optimal trajectory consists at most two switchings between these two actions. A planning method has been implemented to find the optimal trajectory. Manipulation examples are provided to demonstrate the proposed manipulation method.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.