Mobile Manipulators for Cooperative Transportation of Objects in Common

Ortiz, Jessica S.; Varela-Aldás, José; Andaluz, Víctor H.

doi:10.1007/978-3-319-64107-2_53

Cited by 4 publications

(4 citation statements)

References 14 publications

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“…The structure of the formation controller is similar that kinematic controller, therefore the following control law is proposed (5).…”

Section: Control Strategymentioning

confidence: 99%

“…The robotics nowadays has reached a high level of importance, since robots perform common tasks that require locomotion and manipulation capabilities [1,2,3]. Traditionally, the robots are used in the automotive, electrical, metallurgical, chemical and food industries, as well as in tasks of daily life, such as sweeping, vacuuming or mowing grass [4,5]. The tasks can be carried out individually or cooperatively in different areas, being of cooperative form more efficient in terms of manipulability, flexibility, accessibility and manoeuvrability, allowing greater efficiency in industrial processes.…”

Section: Introductionmentioning

confidence: 99%

“…In work [5] performs a cooperative control with up to two mobile robots unlike the present work that a multilayer scheme is developed for the cooperative control of 2 n  mobile heterogeneous manipulators that allow to transport an object in common in a coordinated way; for which it will have realize the the kinematic modeling of each mobile manipulator robot. Unlike [19], the design of the controller is based on a cascaded kinematic control, based on a virtual structure formed between the operating ends of the multiple mobile heterogeneous manipulator robots.…”

Section: Introductionmentioning

confidence: 99%

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Coordinated and Cooperative Control of Heterogeneous Mobile Manipulators

Molina

Ortiz

2018

Social Robotics

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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.

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“…The structure of the formation controller is similar that kinematic controller, therefore the following control law is proposed (5).…”

Section: Control Strategymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Coordinated and Cooperative Control of Heterogeneous Mobile Manipulators

Molina

Ortiz

2018

Social Robotics

Self Cite

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“…In contrast, the shape and orientation of the whole set can be configured through projections between each robot. Reference [26] takes into account this consideration, where the objective is to transport an object by two mobile anthropomorphic robots. The proposed controller to carry out the problem is based on the Lyapunov method, where it is analytically demonstrated that it is asymptotically stable.…”

Section: Introductionmentioning

confidence: 99%

Multirobot Heterogeneous Control Considering Secondary Objectives

Acosta

Rivera

Andaluz

et al. 2019

Sensors

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Cooperative robotics has considered tasks that are executed frequently, maintaining the shape and orientation of robotic systems when they fulfill a common objective, without taking advantage of the redundancy that the robotic group could present. This paper presents a proposal for controlling a group of terrestrial robots with heterogeneous characteristics, considering primary and secondary tasks thus that the group complies with the following of a path while modifying its shape and orientation at any time. The development of the proposal is achieved through the use of controllers based on linear algebra, propounding a low computational cost and high scalability algorithm. Likewise, the stability of the controller is analyzed to know the required features that have to be met by the control constants, that is, the correct values. Finally, experimental results are shown with different configurations and heterogeneous robots, where the graphics corroborate the expected operation of the proposal.

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