Modeling and Control of Dual Arm Robotic Manipulators
Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
In this thesis, navigation control of multi-agent systems is studied. In particular, the problem statement is based on the application of multi-agent systems' techniques to the control of dual arm robotic manipulators. The thesis is divided into two separate subproblems: the rst one considers decentralized navigation control of a non-holonomic two-agent system with collision avoidance, corresponding to the end eectors of the robotic arms. For this problem, two controllers were found for which the analysis showed stability and convergence to an arbitrarily small region around the desired destinations. The second subproblem considers decentralized connectivity pre- serving control of a holonomic multi-agent system of ngers associated with the end eectors. Here, the goal was to modify the existing the- ory of connectivity constraints to account for the angle constraints that are necessary to describe the relationship between ngers connected to the same hand. For this case, both connectivity and convergence was shown with the new connectivity controller.
Place, publisher, year, edition, pages
2011. , 40 p.
EES Examensarbete / Master Thesis, XR-EE-RT 2011:014
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-55975OAI: oai:DiVA.org:kth-55975DiVA: diva2:472301
Master of Science in Engineering -Engineering Physics
Wahlberg, Bo, Professor