RIA: Coordination of Mobile Manipulators

本研究探讨多个移动的 用于抓取和运输大型和不规则的机械手 形状的物体。 在这项研究中考虑的移动的机械手是 由移动的运动平台和机械手组成 用于抓握和操纵。 一个没有特殊意义的大物体 例如手柄的特征不能容易地被 传统的端部执行器如爪式抓取器或多指式抓取器 手 基于包络抓取概念的一种新方法 并提出了多个移动的机械手的操纵。 拟议研究的主要贡献将是控制 运动和操纵的协调算法 移动的操纵器，操纵器的运动 约束和协调两个移动的机械手， 运输大型物体。 一个实验系统将 开发用于测试和评估拟议的协调 算法//

This research investigates coordination of multiple mobile manipulators for grasping and transporting large and irregularly shaped objects. A mobile manipulator considered in this study is composed of a mobile platform for locomotion and a manipulator for grasping and manipulation. A large object without special features such as handles cannot easily be grasped by the conventional end effectors such as jaw grippers or multifingered hands. A new approach based on the concept of enveloping grasp and manipulation by multiple mobile manipulators is proposed. The major contribution of the proposed study will be control algorithms for coordination of locomotion and manipulation of a mobile manipulator with the motion of the manipulator being constrained, and coordination of two mobile manipulators for transporting large objects. An experimental system will be developed to test and evaluate the proposed coordination algorithms. //