Title :
Control of a single robot in a cooperative multi-robot framework
Author :
Sarkar, Nilanjan ; Yun, Xiaoping ; Kumar, Vijay
Author_Institution :
Gen. Robotics & Active Sensory Perception Lab., Pennsylvania Univ., Philadelphia, PA, USA
Abstract :
In a versatile, intelligent, multirobot system, each robot is controlled by independent controllers and information obtained by a robot through proprioceptive sensing (joint position, velocity, torques etc.) is not shared with other robots. If the coordination of robots in a cooperative manipulation task is to be accomplished, each robot must be able to exhibit controlled interaction with other robots and objects with minimal information. The authors address the problem of maintaining rolling contact between am actively controlled mechanical linkage and an external moving surface, assuming that a nominal model of the gross motion of the moving surface is available. Thus the control problem involves a dynamic system that is acatastic and nonholonomic. Nonlinear feedback is used to decouple and linearize the time-varying system. Examples and results from computer simulations are used to show that the normal and tangential forces as well as the relative rolling motion can be controlled satisfactorily
Keywords :
robots; cooperative manipulation task; cooperative multirobot systems; dynamic system; force control; intelligent robots; mechanical linkage; nonlinear feedback; normal force; rolling contact; tangential forces; time-varying system; Control systems; Intelligent robots; Intelligent systems; Motion control; Multirobot systems; Robot control; Robot kinematics; Robot sensing systems; Torque control; Velocity control;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583858