Cooperative Pushing Transfer Control of a Rectangular Object Using Multiple Mobile Robots with Compliance Mechanisms: Trajectory Planning and Numerical Simulations of Dynamic Response

摘要

In this report, first, the trajectory planning method of a rectangular object and multiple mobile robots with compliance mechanisms for the cooperative pushing transfer control is presented. The multiple mobile robots consist of two mobile robots to drive the rectangular object and two mobile robots to guide the rectangular object. The trajectory is planned by using a line segment and two arc segments of a circular. Second, the equation of motion of the rectangular object transferred by the spring forces of the compliance mechanisms is derived in consideration of the friction forces between the object and the floor and the spring forces due to the compliance mechanisms, and the numerical simulations have been carried out. Hereby, it is confirmed numerically that the rectangular object can be transferred from the starting location and posture to the goal location and posture by the present cooperative pushing transfer system.