One-dimensional Non-prehensile Object Manipulation by Mobile Robot

Optimal one-dimensional motion planning of amobile robot while keeping dynamic grasp is studied. For amobile robot, as a typical set-up for transportation of object,dynamic grasp problem is defined. It is assumed that the robotmoves along a straight path and carries an object on its uppersurface and the object should not move relative to the robot(dynamic grasp problem). It is shown that to preserve dynamicgrasp between the object and the robot, acceleration of therobot has to remain in a specified range. A third orderpolynomial for position equation of the mobile robot isconsidered and then the dynamic grasp condition is sketchedas a constraint on acceleration of the robot and an optimizationproblem is proposed to find the optimal motion of the robot.The optimization problem is solved to obtain maximumdistance and minimum time plans for the robot's motion. Alsothe results are verified by simulations in MSC-ADAMS

Keywords:

Mobile Robots , Motion Planning , ObjectManipulation , Dynamic Grasp , Path Optimization