Title :
Research on Double Omni-directional Mobile Robot Cooperation Transport
Author :
Jiang Lin ; Liu Baiyan ; Zhao Jie
Author_Institution :
Key Lab. of Metall. Equip., WuHan Univ. of Sci. & Technol., Wuhan, China
Abstract :
Through summarizing the present status of multi-mobile robot cooperation transport, the cooperation method about adding absolute positioning to the force feedback and master-slave cooperation method was proposed. The method could improve the local cooperation efficiency. After analyzed the characteristics of double omni-directional mobile robot (DODMR) cooperation transport, three constraints rules which the DODMR cooperation transport should abide were proposed and studied. Based on these constraints rules the control strategies of three basic cooperation transport actions (TBCTA) were proposed. And the simulations of the TBCTA had been performed. Any complicated action could be composed of the TBCTA. Finally the simulation experiment about DODMR cooperation transport has been performed, the experimental result proved that the control strategy was effective.
Keywords :
constraint handling; cooperative systems; force feedback; mobile robots; position control; basic cooperation transport actions; constraint rules; force feedback; master-slave cooperation method; omni-directional mobile robot; robot cooperation transport; Collaboration; Force control; Force feedback; Master-slave; Mobile robots; Orbital robotics; Robot kinematics; Signal processing; Space technology; Transmitters; absolute positioning; basic actions; constraints rules; control strategy; cooperation transport;
Conference_Titel :
Fuzzy Systems and Knowledge Discovery, 2009. FSKD '09. Sixth International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-0-7695-3735-1
DOI :
10.1109/FSKD.2009.246
