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This paper investigates real-time control strategies for dynamical systems involve frictional contact interactions. Hybridness and underactuation are characteristics of these systems that complicate the design of feedback. In this research, we examine and test a novel feedback controller on a planar pushing system, where the purpose is to control the motion a sliding object on a flat surface using a point robotic pusher. The-slider is a simple dynamical system that retains many of the challenges are typical of robotic manipulation tasks. Our results show that a model predictive control approach used in tandem with programming offers a powerful solution to capture the dynamic associated with the friction cone as well as the hybrid nature of contact. In order to achieve real-time control, simplifications are to speed up the integer program. The concept of Family of Modes (FOM) introduced to solve an online convex optimization problem by selecting a set contact mode schedules that spans a large set of dynamic behaviors that can during the prediction horizon. The controller design is applied to the motion of a sliding object about a nominal trajectory, and to-plan its trajectory in real-time to follow a moving target. We validate the design through numerical simulations and experimental results on an ABB IRB 120 robotic arm.
Hogan et al. (Thu,) studied this question.