Research on Double Omni-directional Mobile Robot Cooperation Transport

Author

Jiang Lin ; Liu Baiyan ; Zhao Jie

Author_Institution

Key Lab. of Metall. Equip., WuHan Univ. of Sci. & Technol., Wuhan, China

Volume

4

fYear

2009

fDate

14-16 Aug. 2009

Firstpage

145

Lastpage

150

Abstract

Through summarizing the present status of multi-mobile robot cooperation transport, the cooperation method about adding absolute positioning to the force feedback and master-slave cooperation method was proposed. The method could improve the local cooperation efficiency. After analyzed the characteristics of double omni-directional mobile robot (DODMR) cooperation transport, three constraints rules which the DODMR cooperation transport should abide were proposed and studied. Based on these constraints rules the control strategies of three basic cooperation transport actions (TBCTA) were proposed. And the simulations of the TBCTA had been performed. Any complicated action could be composed of the TBCTA. Finally the simulation experiment about DODMR cooperation transport has been performed, the experimental result proved that the control strategy was effective.

Keywords

constraint handling; cooperative systems; force feedback; mobile robots; position control; basic cooperation transport actions; constraint rules; force feedback; master-slave cooperation method; omni-directional mobile robot; robot cooperation transport; Collaboration; Force control; Force feedback; Master-slave; Mobile robots; Orbital robotics; Robot kinematics; Signal processing; Space technology; Transmitters; absolute positioning; basic actions; constraints rules; control strategy; cooperation transport;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems and Knowledge Discovery, 2009. FSKD '09. Sixth International Conference on

Conference_Location

Tianjin

Print_ISBN

978-0-7695-3735-1

Type

conf

DOI

10.1109/FSKD.2009.246

Filename

5359118