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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.
Assembly Automation – Emerald 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
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