Leveraging Dynamic Modeling of Cart-like Nonholonomic Systems to Improve Contact Point’s Location and Control
Keywords: Mobile Manipulation, Dynamic Model, cart-like system, nonholonomic
TL;DR: Model dynamic of wheeled object with nonholonomic constraints and control using a mobile manipulator to push it by leveraging change of contact points of the object
Abstract: There is a wide range of cart-like systems over
different environments such as hospitals, hotels, supermarkets,
and warehouses, between many others. These cart-like systems
are passive-wheeled objects with nonholonomic constraints with
varying inertial parameters. To effectively plan and control
for these systems we need to understand the ground-cartrobot
interactions and leverage the existence of multiple contact
points to minimize the energy used by the robot and improve
the control of the system. We derive the dynamic equations of
the cart-like system using a constrained Euler-Lagrange formulation
and propose a Linear Quadratic Regulator controller
to move the cart along a desired trajectory using external
forces (applied by the robot). We discuss the selection of one
or multiple contact points which can be optimize to improve
the performance of the system. We present a brief description
of the control architecture used for the Mobile Manipulator
(MM). We validate our approach experimentally, using a MM
to push a shopping cart and track desired trajectories. These
experiments show the accuracy of the control architecture to
track the desired trajectories for carts with different inertial
parameters and improve the controllability of the system by
changing the contact point on the cart.
Submission Number: 11
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