Cooperanve Transpormuon Consiaenng Mecnamcai Coupling of Multi-robots System

摘要

Recently, the control techniques of multi-agent systems have been getting a lot of attentions. Multi-agent systems are expected to brought onto our society and required to perform the tasks such as transportation. In cooperative transportation, the robust control technique leads to damaging of a object while the the compliant control oscillates position responses of subsystems. Then, the paper tackles to this problem with a technique of motdal decomposition of tasks. To analyze such task, a system whose subsystems are mechanically connected with a mass-spring system are considered, imitating a transported object. The paper shows that a transportation and a holding motion are able to controlled individually and stabilization of the transportation is conducted. Simulations are conducted to verify the validity of the proposed method.