Multirobot systems are used in operations where a single robot is not capable. In this paper, a team of multirobot system is used to transport an object which the carried object is much larger than a single robot can carry. To transport the oversized object smoothly, control and communication between robots is crucial for smooth object manipulation. In this application, the robots move linearly along rails. The different position between robots was measured by using an incremental encoder attached at a support point on the robot to measure the angle between robots. A control feedback method was implement using P control to eliminate the relative position between the master and slave robot. Through experiments, it has been shown that the slave robot can follow the master robot with relative positioning error less than 4 cm, or less than 5° of misalignment.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Control Method for a Wide Object Manipulation for a Team of Collaborative Robots Traveling in Rails


    Weitere Titelangaben:

    Lect.Notes Mechanical Engineering


    Beteiligte:
    Conte, Giuseppe (Herausgeber:in) / Sename, Olivier (Herausgeber:in) / Tirasaran, Jirapa (Autor:in) / Kwanmuang, Surat (Autor:in)

    Kongress:

    International Conference on Mechatronics and Control Engineering ; 2021 July 26, 2021 - July 28, 2021



    Erscheinungsdatum :

    2022-07-14


    Format / Umfang :

    12 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    ROS-Enabled Collaborative Navigation and Manipulation with Heterogeneous Robots

    Thilagavathy, R. / Sumithradevi, K. A. | Springer Verlag | 2023


    Collaborative Robots

    Mihelj, Matjaž / Bajd, Tadej / Ude, Aleš et al. | Springer Verlag | 2018


    Semi-Autonomous Interventional Manipulation using Pneumatically Attachable Flexible Rails

    D'Ettorre, C / Stilli, A / Dwyer, G et al. | BASE | 2020

    Freier Zugriff

    Collaborative Exploration for a Team of Mobile Robots: Centralized and Decentralized Strategies

    Giannetti, L. / Pagnottelli, S. / Valigi, P. et al. | British Library Conference Proceedings | 2005


    Cooperative Manipulation of a Flexible Object by Nonholonomically-Constrained Robots

    Weitz, Lesley / Doebbler, James / Holmstrom, Kristen et al. | AIAA | 2008