Options
A hybrid design for a cooperative multi-robot transportation system
Publikationstyp
Conference Paper
Date Issued
2017
Sprache
English
Author(s)
Institut
TORE-URI
Start Page
48
End Page
52
Citation
ACM International Conference Proceeding Series (Part F128050): 48-52 (2017-02-08)
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
ACM
In this paper we address the cooperative manipulation and transportation of a payload by multiple aerial robots in 3- dimensional space. We modeled the multi-robot system (MRS) as a parallel kinematic manipulator (PKM) using screw theory and formulate its kinematic equations and conditions for static equilibrium. The PKM is formed by the payload and groups of robots rigidly attached to the payload, which can be regarded as virtual legs. Using the PKM, we present a hybrid coordination framework with a hierarchical structure, based on a centralized inter-group manipulation at top level and a distributed intra-group manipulation at lower level. The former solves the direct kinematics of the PKM in a centralized manner and the latter consists of a distributed formation control within a virtual leg. We present simulation results which verify the presented coordination framework.
Subjects
Cooperative control
Cooperative manipulation
Distributed robotics
Multi-robot systems
DDC Class
600: Technik