Dynamic control approach for motion coordination of multiple wheeled mobile robots transporting a single object
Dynamic control approach for motion coordination of multiple wheeled mobile robots transporting a single object
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运输单个物体的多轮移动机器人运动协调的动态控制方法
DOI：
10.1109/iros.1993.583900
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发表时间：
1993
期刊：
影响因子：
--
通讯作者：
T. Eguchi
中科院分区：
文献类型：
--
作者：
M. Hashimoto;F. Oba;T. Eguchi
提出了一种多轮式移动的机器人搬运同一重物的协调动态控制方法。该耦合器，它包括一个主动棱柱连杆和一个被动旋转关节，安装在每个机器人，使即使是一个普通的非完整移动的机器人具有较差的流动性可以正确地操纵对象。设计了一个由一个领导者和其他员工机器人组成的分层协调控制系统，以在严重的动态交互作用下同步控制机器人的运动。引导机器人连续地定义对象沿着其参考轨迹的期望运动，并将信息广播给员工机器人。每个工作人员机器人控制自己的身体和板载棱柱链接的运动，以实现所需的对象行为，没有侧向滑动。当棱柱连杆接近其运动极限时，员工机器人请求领导者临时修改对象的期望行为。控制算法的基础上制定的轮式移动的机器人的运动学和动力学。仿真结果验证了该方法的有效性。
This paper proposes a coordinate dynamic control method for the transfer of a common heavy object by several wheeled mobile robots. The coupler, which comprises an active prismatic link and a passive rotary joint, is installed on each robot so that even an ordinary nonholomonic mobile robot with inferior mobility can correctly manipulate the object. A hierarchical coordinative control system composed of a leader and other staff robots is designed to synchronously control the motions of the robots under severe dynamic interactions. The leader robot successively defines the desired motion of the object along its reference trajectory and broadcasts the information to the staff robots. Each staff robot controls the motions of its own body and the onboard prismatic link so as to achieve the desired object behavior without sideways slippages. When the prismatic link approaches the limit for its movement, the staff robot requests the leader to temporarily modify the desired behavior of the object. The control algorithm is formulated on the basis of the kinematics and the dynamics of the wheeled mobile robot. Simulation results illustrate the validity of the method.