Dynamic manipulation of a large object using a leader–assistant mobile robot system
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This study addresses the transportation of large objects using a leader–assistant robot system. The transport strategy involves three phases: first, the robots couple with the object; second, they move to the goal position; and third, the robots decouple from the object. In previous studies, we examined the coupling and decoupling configurations of the first and third phases and presented a kinematic control method for the second phase. In this study, we considered the dynamics of a leader–assistant system and investigated a dynamic path-tracking control method. To this end, we initially formulated a dynamic equation in terms of the position and orientation of the object (control target) without the interaction force terms between the object and n number of robots, which allows us to handle the leader–assistant system like a single robot for object manipulation. Subsequently, a straight-line path tracking control method using a dynamic equation was presented. Through simulations, it was verified that the dynamic path-tracking control method is effective for leader–assistant systems.
Abstract
This study addresses the transportation of large objects using a leader–assistant robot system. The transport strategy involves three phases: first, the robots couple with the object; second, they move to the goal position; and third, the robots decouple from the object. In previous studies, we examined the coupling and decoupling configurations of the first and third phases and presented a kinematic control method for the second phase. In this study, we considered the dynamics of a leader–assistant system and investigated a dynamic path-tracking control method. To this end, we initially formulated a dynamic equation in terms of the position and orientation of the object (control target) without the interaction force terms between the object and n number of robots, which allows us to handle the leader–assistant system like a single robot for object manipulation. Subsequently, a straight-line path tracking control method using a dynamic equation was presented. Through simulations, it was verified that the dynamic path-tracking control method is effective for leader–assistant systems.
참고문헌 (10)
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