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Coordinated Kinematic Control of Compliantly Coupled Multirobot Systems in an Array Format

Title
Coordinated Kinematic Control of Compliantly Coupled Multirobot Systems in an Array Format
Authors
Kim, Y[Kim, Youngshik]Minor, MA[Minor, Mark A.]
DGIST Authors
Kim, Y[Kim, Youngshik]
Issue Date
2010-02
Citation
IEEE Transactions on Robotics, 26(1), 173-180
Type
Article
Article Type
Article
Keywords
AxlesCenter PointsCo-Ordinate SystemCompliant CouplingCompliant FramesCoordinated Kinematic ControlCoordination AlgorithmsIndustrial RobotsKinematic ControlKinematicsMobile RobotsMoving PlatformMulti-Robot SystemsMulti-RobotsMultirobotNon-Holonomic ConstraintPhysical LimitationsReference TrajectoriesRigid Body KinematicsRobot KinematicsWheeled Mobile RobotWheels
ISSN
1552-3098
Abstract
This paper presents coordinated kinematic control of compliantly coupled multirobot systems for payload transportation. In the robot, unicycle-type axles are connected to a moving platform in an array format using compliant frames. A coordinate system is attached to an ideal center point on the platform to establish robot kinematics. In order to drive the system along a reference trajectory, we coordinate axle velocity commands, while considering frame compliance, nonholonomic constraints, and rigid body kinematics, respectively. These commands are further coordinated to consider configuration stability and physical limitations. Simulation and experimental results evaluate the coordination algorithms for various trajectories. © 2009 IEEE.
URI
http://hdl.handle.net/20.500.11750/3531
DOI
10.1109/TRO.2009.2035739
Publisher
Institute of Electrical and Electronics Engineers Inc.
Files:
There are no files associated with this item.
Collection:
ETC1. Journal Articles


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