Cooperative object path following control by means of mobile manipulators: A switched systems approach
2012 (English)In: IFAC Proceedings Volumes (IFAC-PapersOnline): Robot Control, Vol 10, Part 1, IFAC Papers Online, 2012, 773-778 p.Conference paper (Refereed)
This paper proposes a switched control algorithm for distributed cooperative manipulation of rigid bodies in a planar setting. More specifically, we consider the problem of making a grasped object follow a desired position and orientation path. The system contains N robots, possibly of heterogeneous designs, each of which consists of a manipulator arm and a nonholonomic mobile platform. Control is based on local information, is carried out on a kinematic level and partly utilizes inverse kinematics. We use Lyapunov-like arguments to prove that the algorithm is almost globally stable and also show that its parameters can be chosen so that any input saturation level is met. The time between certain switches is proved to be bounded below, and the system is shown to be free of any Zeno behavior.
Place, publisher, year, edition, pages
IFAC Papers Online, 2012. 773-778 p.
, IFAC Proceedings Volumes (IFAC-PapersOnline), ISSN 1474-6670
Cooperative manipulation, Mobile manipulation, Switched systems
IdentifiersURN: urn:nbn:se:kth:diva-129786DOI: 10.3182/20120905-3-HR-2030.00171ScopusID: 2-s2.0-84881007582ISBN: 978-390282311-3OAI: oai:DiVA.org:kth-129786DiVA: diva2:654607
10th IFAC Symposium on Robot Control, SYROCO 2012; Dubrovnik; Croatia; 5 September 2012 through 7 September 2012
QC 201310082013-10-082013-10-042016-04-25Bibliographically approved