Research of Cooperative Control Method for Mobile Robots

摘要

This paper proposes a control method for multiple mobile robots to move one object. It will show how each other mobile robot, with a hand and manipulator with three degrees of freedom and the two wheels, can cooperate with other. Firstly, via the kinematics interpretation, the position of the end-effector is calculated. Then, by using inverse kinematics, the end-effector is moved to the object's position. This cooperation of these two robots seems like a closed-chain form. Additionally, the angles of the both robot's manipulators are the same as each other. Utilizing the distance between robots, the constant force can be added to the object. When lifting the object, there are pushing forces from both sides. It is a study of how to control the angle of the manipulator and the position of the robot when know the exact position of the object with the assuming that the robot keeps perfect balance. The result is also simulated by using MSRDS 3D simulation tool.