منابع مشابه
Control of cooperating mobile manipulators
We describe a framework and control algorithms for coordinating multiple mobile robots with manipulators focusing on tasks that require grasping, manipulation and transporting large and possibly flexible objects without special purpose fixtures. Because each robot has an independent controller and is autonomous, the coordination and synergy are realized through sensing and communication. The ro...
متن کاملDecentralized Kinematic Control of a Cooperating System of Mobile Manipulators
In this paper, we examine the development of a decentralized control framework for a modular system of wheeled mobile manipulators that can team up to cooperatively transport a large common object. Each individually autonomous mobile manipulator consists of a differentially-driven wheeled mobile robot (WMR) with a passive, two-degree-of-freedom, planar, revolute-jointed arm mounted in the plane...
متن کاملNonholonomic navigation and control of cooperating mobile manipulators
This paper presents the first motion planning methodology applicable to articulated, non-point nonholonomic robots with guaranteed collision avoidance and convergence properties. It is based on a new class of nonsmooth Lyapunov functions (DILFs) and a novel extension of the navigation function method to account for non-point articulated robots. The Dipolar Inverse Lyapunov Functions introduced ...
متن کاملMotion planning for cooperating mobile manipulators
We address the problem of motion planning for nonholonomic cooperating mobile robots manipulating and transporting objects while holding them in a stable grasp. We present a general approach for solving optimal control problems based on the calculus of variations. We specialize this approach to solving the motion planning problem and obtaining trajectories and actuator forces/torques for any ma...
متن کاملOptimal Configuration Selection for a Cooperating System of Mobile Manipulators
In this paper, we examine the design and selection of optimal configuration of a system of multiple, wheeled mobile manipulators that can team up to cooperatively transport a large common object. Each individually autonomous mobile manipulator consists of a differentially driven wheeled mobile robot (WMR) with a passive, two degree-of-freedom (d.o.f), planar revolute-jointed arm mounted in the ...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics and Automation
سال: 2002
ISSN: 1042-296X
DOI: 10.1109/70.988979