Static workspace analysis of a multi-robot collaborative towing system with floating base

摘要

The static workspace of the multi-robot collaborative towing system with floating base was analyzed.The spacial configuration of the system was built,and the system was divided into three types according to the actuation.The kinematic and dynamic models of the floating base and the towing system were established,respectively,by using the Newton-Euler equation.Then the static workspace of the system was analyzed,and the specific steps to solve the workspace with the improved Monte Carlo method were obtained.Finally,the static workspaces of three types of systems were solved though actual simulation calculation,the simulation results show that the improved Monte Carlo method can get a workspace with higher precision compare to the traditional Monte Carlo method.Results of this study lay a basis for the subsequent trajectory plan,stability analysis and configuration optimization of the system.