Motion Control of Distributed Robot Helpers Transporting a Single Object in Cooperation with a Human
نویسندگان
چکیده
In this paper, we propose a concept of distributed robot helpers referred to as DR Helpers, and a decentralized control algorithm for them to transport a single object in cooperation with a human/humans. The proposed control algorithm could be applied to DR Helpers more than three, even if each DR Helper has a slippage between its wheels and the ground. The proposed decentralized control algorithm is experimentally applied to three DR Helpers for illustrating the validity of the proposed algorithm.
منابع مشابه
Map-based Control of Distributed Robot Helpers for Transporting an Object in Cooperation with a Human
In this paper, we propose a decentralized motion control algorithm of multiple mobile robots transporting a single object in cooperation with a human based on a path generated from an environment. Each mobile robot is controlled as if it has a wheel with a free rotational joint and moves along the path based on the intentional force applied by a human. The proposed decentralized control algorit...
متن کاملMotion control of a mobile robot transporting a large size object in cooperation with a human: a nonlinear dynamical systems approach
In this paper we propose a dynamic control architecture, completely implemented as a non-linear dynamical system, that controls the behavior of an autonomous robot that must transport a large size object in cooperation with a human. Experimental results in indoor environments show that if the parameter values are chosen within certain reasonable ranges then the overall system works quite well e...
متن کاملBall Trajectory Estimation and Robot Control to Reach the Ball Using Single Camera
In robotics research, catching a projectile object with a robotic system is one of the challenging problems. The outcome of these researches can be used in a wide range of applications such as video surveillance systems, analysis of sports videos, monitoring programs for human activities, and human-machine interactions. In this paper, we propose a new vision-based algorithm to estimate the traj...
متن کاملManipulation Control of a Flexible Space Free Flying Robot Using Fuzzy Tuning Approach
Cooperative object manipulation control of rigid-flexible multi-body systems in space is studied in this paper. During such tasks, flexible members like solar panels may get vibrated that in turn may lead to some oscillatory disturbing forces on other subsystems, and consequently produces error in the motion of the end-effectors of the cooperative manipulating arms. Therefore, to design and dev...
متن کاملتوسعه یک مدل سه بعدی روبات ماهی و مقایسه آزمایشگاهی نتایج
Biomimetic underwater vehicle design has attracted the attention of researchers for various reasons such as ocean investigation, marine environmental protection, exploring fish behaviors and detecting the leakage of oil pipe lines. Fish and other aquatic animals have good maneuverability and trajectory following capability. They also efficiently stabilize themselves in currents and surges leave...
متن کامل