A Hybrid System Approach for Cooperative Control of Mobile Manipulators
Date Issued
2005
Date
2005
Author(s)
Tzou, Dai-Jie
DOI
en-US
Abstract
In this thesis, we proposed a decentralized control methodology that not only allows the coordination of two mobile manipulators in executing cooperative task but also considers the cooperation stability and manipulability. The motion command is given to one of the robots, referred to as a leader, and the other robot referred to as follower which need to coordinate its trajectory while maintaining the grasp. Moreover, we apply the compliant motion control to both manipulators to compensate for the platforms’ position errors while maintaining prescribed internal forces. In addition to the cooperative control, we use a hybrid system approach to model the execution of cooperative tasks when there are obstacles in the environment. Hybrid systems combine discrete event and continuous dynamics in a manner that can capture decision logic, agent dynamics, and inter-agent communication in a unified modeling framework, which is adequate to represent cooperative robot system. We utilize a hybrid automaton to specify the behavior of each robot, which allows us to better describe and formalize the execution of cooperative tasks. Finally, we give the simulation results to demonstrate the effectiveness of the basic methodology and the hybrid system approach, respectively.
Subjects
混成式系統法則
移動式機器手臂
合作控制
Hybrid System Approach
Cooperative Control
Mobile Manipulators
Type
thesis
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