标题： 准静态滑块-推动器模型的微分平坦性及其在控制中的应用 显示英文标题

标题： Differential Flatness of Quasi-Static Slider-Pusher Models with Applications in Control

摘要： 本文研究了平面滑块-推动器系统在操作任务中的运动基元的动态特性。 为此，我们构建了一个微分运动学模型，该模型基于准静态假设下的极限面方法，并忽略接触摩擦。 准静态模型适用于一般的滑块形状和圆形推动器几何结构，从而实现了系统的微分运动学表示。 从该模型出发，我们分析了微分平坦性——这一特性对于控制综合和规划具有优势——并发现具有多边形滑块和圆形推动器的滑块-推动器系统具有平坦性，质心作为平坦输出。 利用这一特性，我们提出了两种轨迹跟踪控制策略：一种是级联的准静态反馈策略，另一种是动态反馈线性化方法。 我们通过包含扰动模型和输入噪声的闭环仿真以及使用手指状推动器和基于视觉的状态检测的物理装置的实验结果验证了这些策略。 现实世界的实验确认了仿真增益的适用性，突显了所提出方法的潜力。 显示英文摘要

摘要： This paper investigates the dynamic properties of planar slider-pusher systems as a motion primitive in manipulation tasks. To that end, we construct a differential kinematic model deriving from the limit surface approach under the quasi-static assumption and with negligible contact friction. The quasi-static model applies to generic slider shapes and circular pusher geometries, enabling a differential kinematic representation of the system. From this model, we analyze differential flatness - a property advantageous for control synthesis and planning - and find that slider-pusher systems with polygon sliders and circular pushers exhibit flatness with the centre of mass as a flat output. Leveraging this property, we propose two control strategies for trajectory tracking: a cascaded quasi-static feedback strategy and a dynamic feedback linearization approach. We validate these strategies through closed-loop simulations incorporating perturbed models and input noise, as well as experimental results using a physical setup with a finger-like pusher and vision-based state detection. The real-world experiments confirm the applicability of the simulation gains, highlighting the potential of the proposed methods for