Compliant Sliding of a Block Along a Wall

Abstract

This paper derives a compliant motion to slide a block along a wall, based on analysis of the task dynamics. We model the compliant motion by a spring with one end attached to the block, and the other end position-controlled. The attachment point of the spring on the block is the compliance center of the compliant motion strategy. We construct a strategy that produces the desired motion, independent of the actual coefficient of friction. We use a dual representation of force (Brost and Mason 1989) to analyze the dynamics of the operation, and to characterize candidate compliant motions. The same dynamic analysis has supported planning of tilting motions and pushing motions, suggesting that the task mechanics and the control strategy can be analyzed independently.