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Flexible co-manipulation and transportation with mobile multi-robot system

Flexible co-manipulation and transportation with mobile multi-robot system The purpose of this paper is to address optimal positioning of a group of mobile robots for a successful manipulation and transportation of payloads of any shape.Design/methodology/approachThe chosen methodology to achieve optimal positioning of the robots around the payload to lift it and to transport it while maintaining a geometric multi-robot formation is presented. This appropriate configuration of the set of robots is obtained by combining constraints ensuring stable and safe lifting and transport of the payload. A suitable control law is then used to track a virtual structure in which each elementary robot has to keep its desired position with respect to the payload.FindingsAn optimal positioning of mobile robots around a payload to ensure stable co-manipulation and transportation task according to stability multi-criteria constraints. Simulation and experimental results validate the proposed control architecture and strategy for a successful transportation task based on virtual structure navigation approach.Originality/valueThis paper presents a new strategy for co-manipulation and co-transportation task based on a virtual structure navigation approach. An algorithm for optimal positioning of mobile robots around a payload of any mass and shape is proposed while ensuring stability during the whole process by respecting multi-criteria task stability constraints. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Assembly Automation Emerald Publishing

Flexible co-manipulation and transportation with mobile multi-robot system

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Publisher
Emerald Publishing
Copyright
© Emerald Publishing Limited
ISSN
0144-5154
DOI
10.1108/aa-12-2017-190
Publisher site
See Article on Publisher Site

Abstract

The purpose of this paper is to address optimal positioning of a group of mobile robots for a successful manipulation and transportation of payloads of any shape.Design/methodology/approachThe chosen methodology to achieve optimal positioning of the robots around the payload to lift it and to transport it while maintaining a geometric multi-robot formation is presented. This appropriate configuration of the set of robots is obtained by combining constraints ensuring stable and safe lifting and transport of the payload. A suitable control law is then used to track a virtual structure in which each elementary robot has to keep its desired position with respect to the payload.FindingsAn optimal positioning of mobile robots around a payload to ensure stable co-manipulation and transportation task according to stability multi-criteria constraints. Simulation and experimental results validate the proposed control architecture and strategy for a successful transportation task based on virtual structure navigation approach.Originality/valueThis paper presents a new strategy for co-manipulation and co-transportation task based on a virtual structure navigation approach. An algorithm for optimal positioning of mobile robots around a payload of any mass and shape is proposed while ensuring stability during the whole process by respecting multi-criteria task stability constraints.

Journal

Assembly AutomationEmerald Publishing

Published: Aug 14, 2019

Keywords: Control architecture; Cooperative mobile robots; Navigation in formation; Payload co-manipulation and co-transportation; Robots positioning; Virtual structure approach

References