Synchronized mobile manipulators for kinematic cooperative tasks: control design and analysis

摘要

In this paper we present a synchronization feedback control scheme for kinematic cooperative mobile manipulator robots performing a global task of manipulation and transportation, where an object is taken to a desired 6D pose. We define the motion of the object which is translated to each end-effector as desired coordinates, that trajectory is generated on-line and is a function of every robot in the scene. The group of robots follow the object’s motion where the control of each robot is also a function of every other robot, meanwhile they are constrained to a common object. This leads to a complicated interaction scheme, so we thoroughly analyze the effects of the interactions that alter the behavior of each robot, and determine under what conditions those effects help to increase the performance of the proposed control scheme, such that the motions are coordinated to minimize the total energy and stabilize themselves as the common object reaches its objective. For this we performed a stability analysis and tested our control scheme through simulations.