Paper Info
Title
An Optimization Framework For Simulation And Kinematic Control Of Constrained Collaborative Mobile Agents (Ccma) System
Abstract
We present a concept of constrained collaborative mobile agents (CCMA) system, which consists of multiple wheeled mobile agents constrained by a passive kinematic chain. This mobile robotic system is modular in nature, the passive kinematic chain can be easily replaced with different designs and morphologies for different functions and task adaptability. Depending solely on the actuation of the mobile agents, this mobile robotic system can manipulate or position an end-effector. However, the complexity of the system due to presence of several mobile agents, passivity of the kinematic chain and the nature of the constrained collaborative manipulation requires development of an optimization framework. We therefore present an optimization framework for forward simulation and kinematic control of this system. With this optimization framework, the number of deployed mobile agents, actuation schemes, the design and morphology of the passive kinematic chain can be easily changed, which reinforces the modularity and collaborative aspects of the mobile robotic system. We present results, in simulation, for spatial 4-DOF to 6-DOF CCMA system examples. Finally, we present experimental quantitative results for two different fabricated 4-DOF prototypes, which demonstrate different actuation schemes, control and collaborative manipulation of an end-effector.
Year
DOI
Venue
2019
10.1109/IROS40897.2019.8967623
2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Keywords
Field
DocType
Collaborative robots, Multi-robot systems, Mobile manipulation, Simulation, modeling and control
Passivity,Adaptability,Robotic systems,Kinematics,Control engineering,Engineering,Modular design,Kinematic chain,Modularity
Conference
ISSN
Citations 
PageRank 
2153-0858
0
0.34
References 
Authors
8
2
Name
Order
Citations
PageRank
Nitish Kumar121.07
Stelian Coros286256.47