Control of a Group of Mobile Manipulators for Cooperative object Transportation

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Babaee, Mohammad | 2012

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 43367 (08)
University: Sharif University of Technology
Department: Mechanical Engineering
Advisor(s): Sayyadi, Hassan
Abstract:
In this thesis control of wheeled mobile manipulators for cooperative object transportation is investigated. Full dynamic model of a mobile manipulator with a three wheeled mobile base and a three DOF manipulator is derived using Gibbs-Appell method. Input-output linearization technique is used to control individual robots. Transporting the object is divided into two steps, first robots use a decentralized behavior-based method to approach and surround the object. Then virtual structure method is used to control the robots to transport the object cooperatively. Simulation results with three robots handling an object are presented to show the effectiveness of proposed method
Keywords:
Input-Output Linearization ; Virtual Structure Method ; Cooperative Robot ; Wheeled Mobile Robot ; Nonholonomic System ; Gibbs-Appell Method

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