INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
Coordinated cooperative control of mobile manipulators
Autor/es:
VICTOR ANDALUZ; VINICIUS T. L. RAMPINELLI; FLAVIO ROBERTI; RICARDO CARELLI
Lugar:
Aubum, Alabama
Reunión:
Conferencia; 2011 IEEE International Conference on Industrial Technology; 2011
Institución organizadora:
IEEE
Resumen:
This paper presents a multi-layer scheme for coordinated cooperative control of mobile manipulators, for transporting a common object. Each layer works as an independent module, dealing with a specific part of the problem of coordination and cooperation, thus giving more flexibility to the system. A methodology to avoid obstacles in the trajectory of any mobile manipulator is designed based on the concept of mechanical impedance of the interaction robots-environment, without deforming the virtual structure and maintaining its desired trajectory. Stability is proved by using Lyapunovs method. Simulation results show a good performance of the proposed controller as proved by the theoretical design.
