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Control of nonholonomic mobile manipulators for cooperative object transportation

Sayyaadi, H ; Sharif University of Technology

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  1. Type of Document: Article
  2. Abstract:
  3. In this paper, a methodology for transporting objects with a group of wheeled nonholonomic mobile manipulators is presented. A full dynamic model of a mobile manipulator with a three wheeled mobile base and a three DOF manipulator is derived using the Gibbs-Appell method. Since the dynamical equations of a mobile robot are highly nonlinear, an input-output linearization technique is used to control individual robots. Transporting the object is divided into two steps. First, the robots use a decentralized behavior-based method to approach and surround the object. Then, a virtual structure method is used to control the robots to transport the object cooperatively. A numerical simulation study is performed to show the effectiveness of the control methodology. The results show that robots together are capable of approaching and grasping unknown shapes and can also manipulate objects in various ways
  4. Keywords:
  5. Cooperativer robots ; Gibbs-Appell method ; Wheeled mobile manipulators ; Computer simulation ; Decentralized control ; Nonlinear equations ; Robots ; Behavior-based methods ; Gibbs-Appell ; Input output linearization ; Nonholonomic mobile manipulators ; Numerical simulation studies ; Object transportation ; Virtual structures ; Wheeled mobile manipulator ; Manipulators ; Methodology ; Robotics ; Simulation ; Virtual reality
  6. Source: Scientia Iranica ; Vol. 21, issue. 2 , 2014 , p. 347-357
  7. URL: http://www.scientiairanica.com/en/ManuscriptDetail?mid=217