Trajectory Planning for the Cooperative Manipulation of a Flexible Structure by Two Differentially-Driven Robots
| Autor: | James Doebbler, Kristen Holmstrom Johnson, Lesley A. Weitz, John E. Hurtado |
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| Rok vydání: | 2009 |
| Předmět: |
Nonholonomic system
Structure (mathematical logic) Engineering business.industry Mechanical Engineering Control (management) Control engineering Tracking (particle physics) Industrial and Manufacturing Engineering Nonlinear programming Computer Science::Robotics Artificial Intelligence Control and Systems Engineering Simple (abstract algebra) Path (graph theory) Robot Electrical and Electronic Engineering business Software |
| Zdroj: | Journal of Intelligent and Robotic Systems. 58:149-163 |
| ISSN: | 1573-0409 0921-0296 |
| DOI: | 10.1007/s10846-009-9350-x |
| Popis: | In this paper we explore cooperative manipulation of a flexible structure using a team of two nonholonomically-constrained, differentially-driven robots. Cooperative manipulation is achieved by tracking relative trajectories that are designed for both the nonholonomic nature of the platforms and path constraints limiting the deformation of the flexible structure. The relative trajectories are designed by transforming an optimal-trajectory problem to a nonlinear programming problem. A tracking control law is also designed for the nonholonomic nature of the platforms with consideration for the challenges in cooperative manipulation. Results are presented for a simulation example, and a hardware demonstration for a simple case is used to demonstrate the feasibility of the approach. |
| Databáze: | OpenAIRE |
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