Non-prehensile manipulation planning of a three-rigid-link object using two cooperative robot arms

This work presents the dynamic modelling, the static analysis, and a proposed control algorithm for non-prehensile manipulation of a three rigid link object manipulated by two cooperative robot arms in a plane. The system is configured so that one arm is in contact with two links, while the other arm is in contact with the third link. The purpose of the static analysis is to obtain the interaction forces as well as their locations required to hold the object for a specified configuration. The dynamic model of the system is introduced, and the static analysis, considering both the frictionless and frictional contact cases, is deduced. The effect of changing the direction of the static frictional forces at the multi contact points on the static problem is introduced. A PD controller with feed forward acceleration is proposed to perform the manipulation task. Simulation results show the validity of the proposed control scheme.