A Riemannian-Geometry Approach for Modeling and Control of Dynamics of Object Manipulation under Constraints.pdfVIP

Hindawi Publishing Corporation Journal of Robotics Volume 2009, Article ID 892801, 16 pages doi:10.1155/2009/892801 Research Article A Riemannian-Geometry Approach for Modeling and Control of Dynamics of Object Manipulation under Constraints Suguru Arimoto,1, 2 Morio Yoshida,2 Masahiro Sekimoto,1 and Kenji Tahara3 1 Research Organization of Science and Engineering, Ritsumeikan University, Kusatsu, Shiga 525 8577, Japan 2 RIKEN-TRI Collaboration Center for Human-Interactive Robot Research, Nagoya, Aichi 463 0003, Japan 3 Organization for the Promotion of Advanced Research, Kyushu University, Fukuoka 819 0395, Japan Correspondence should be addressed to Suguru Arimoto, arimoto@fc.ritsumei.ac.jp Received 27 October 2008; Accepted 27 January 2009 ¨ Recommended by Heinz Worn A Riemannian-geometry approach for modeling and control of dynamics of object manipulation under holonomic or non- holonomic constraints is presented. First, position/force hybrid control of an endeffector of a multijoint redundant (or nonredundant) robot under a holonomic constraint is reinterpreted in terms of “submersion” in Riemannian geometry. A force control signal constructed in the image space of the constraint gradient is regarded as a lifting (or pressing) in the direction orthogonal to the kernel space. By means of the Riemannian distance on the constraint submanifold, stability of position control under holonomic constraints is discussed. Second, modeling and control of two-dimensional object grasping by a pair of multijoint robot fingers are challenged, when the object is of arbitrary shape. It is shown that rolling contact constraints induce the Euler equation of motion, in which constraint forces appear as