In recent times, the field of robotics has made substantial strides, resulting in increased demand across various industries. The need to enhance manipulative capabilities and optimize efficiency in robotic manipulation tasks has become more pronounced. Addressing this requirement, this study presents a dual-mode control strategy for the Franka Emika Panda robot, focusing on both set-point tracking and non-prehensile object transportation. The research develops a dynamic model of the combined dynamic object-manipulator system, drawing inspiration from established non-prehensile transportation frameworks. This approach emphasizes the interaction forces between the robot and objects. The dual-mode control strategy facilitates seamless transitions between self-point tracking, which involves positioning and configuring the robot's orientation, and non-prehensile object transportation for moving objects. Central to the approach is achieving precise robot-to-platform alignment, which is accomplished using a Proportional-Integral-Derivative (PID) controller. For object transportation with minimal sliding, an optimization-based constrained control law is employed. This model-based controller encompasses two distinct controllers: one manages non-sliding constraints based on the column friction model, incorporating an orientation control term to regulate the tilt angle of the tray during transportation and minimize lateral forces acting on the object; the second controller is responsible for robot manipulator control, determining the appropriate control input to guide the robot. Numerical validation in AGX Dynamics demonstrates the accuracy of the simulations through comparisons with analytical models. The study encompasses objects of varying complexities, sizes, and shapes, addressing challenges such as objects with elevated centers of mass. The insights gained from this research provide a foundation for further advancements in robotic manipulation. To aid future researchers utilizing AGX Dynamics for manipulation tasks, a comprehensive and reproducible tutorial is included at the conclusion of this work.
- Robotics manipulation
- Model-based control
- AGX Dynamics
- Object transportation
- Optimization theory
Constrained Control For Dynamic Non-prehensile Object Transportation: Modeling, Control, and Optimization of a Franka Emika Panda Robot for Non-Sliding and Non-Prehensile Object Transportation
Omer, M. ((PhD) Student), Ozbostan, M. ((PhD) Student). 5 Sep 2023
Student thesis: Master's Thesis