Coordinated and Cooperative Control of Heterogeneous Mobile Manipulators

Abstract

This paper proposes a multilayer scheme for the cooperative control of 2 n  heterogeneous mobile manipulators that allows to transport an object in common in a coordinated way; for which the kinematic modeling of each mobile manipulator robot is performed. Stability and robustness are demonstrated using the Lyapunov theory in order to obtain asymptotically stable control. Finally, the results are presented to evaluate the performance of the proposed control, which confirms the scope of the controller to solve different movement problems.

Collaborative Control of Mobile Manipulator Robots Through the Hardware-in-the-Loop Technique

“…The mobile manipulator robots have multiple applications in different areas of the industry, for example, in construction companies, in mining, as assistance to people, among others [8]. In addition, a mobile manipulator robot to adapt to an industrial environment, must meet several features such as having the ability to work with people without any risk, be autonomous, easy to configure and install and work in compliance with the requirements of the industry [9].…”

Multirobot Heterogeneous Control Considering Secondary Objectives

“…However, it requires a relatively high computational cost, as well as a resilient and robust communication structure. A cooperative robotics structure must additionally consider the distribution of control, which maintains the robotic set [16]. In the centralized control, one vehicle generates the calculation of all the velocities which the fellow robots must have as a reference to maintain the formation, where that robot has relatively high processing characteristics.…”