Acceleration Control for Dynamic Manipulation of a Robot Turning Over Objects

This study deals with dynamic object manipulation by a robot using a tool. In order to keep the contact between the held spatula and the manipulated object, a variety of movements satisfying conditions in acceleration dimension should be planned. However, it is quite difficult to assure the acceleration to stay in a certain range in case disturbances exist. Therefore, this study proposes a control architecture for acceleration control and discusses how to develop a controller suitable for dynamic object manipulation. Comparison through simulation and experimental results reveals the features of the proposed control system.