Multilayer scheme for the adaptive cooperative coordinated control of mobile manipulators

VICTOR ANDALUZ; P. A. CANSECO; ANDRÉS ROSALES; FLAVIO ROBERTI; RICARDO CARELLI

Montreal

Conferencia; IEEE 2012 IECON Industrial Electronics Conference; 2012

IEEE

This paper presents a multi-layer scheme for the adaptive cooperative coordinated control of mobile manipulator robots. Each layer works as an independent module, dealing with a specific part of the problem of cooperation, coordination and adaptation, thus giving more flexibility to the scheme. The adaptive dynamic compensation layer is capable of updating the stimated parameters for all robots, wich are directly related to hysical parameters of each mobile manipulator. Also, the edundancy of the mobile manipulators is used for the voidance of obstacles by the mobile platforms - without eforming the virtual structure and maintaining its desired rajectory - and the singular configuration prevention through he system's manipulability control. Stability and robustness re proved by using Lyapunov's method. Simulation results how a good performance of the proposed multi-layer scheme as roved by the theoretical design.