Trajectory Planning for an Object in Pushing Operation.
نویسندگان
چکیده
منابع مشابه
Pushing revisited: Differential flatness, trajectory planning and stabilization
We prove that quasi-static pushing with a sticking contact and ellipsoid approximation of the limit surface is differentially flat. Both graphical and algebraic derivations are given. A major conclusion is the pusher-slider system is reducible to the Dubins car problem where the sticking contact constraints translate to bounded curvature. Planning is as easy as computing Dubins curves with the ...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1995
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.13.1115