Flexible co-manipulation and transportation with mobile multi-robot system
Article publication date: 16 October 2018
Issue publication date: 14 August 2019
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.
The 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.
An 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.
This 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.
The following entities are acknowledged: LABEX IMobS3 Innovative Mobility: Smart and Sustainable Solutions, the French National Centre for Scientific Research (CNRS), Auvergne Regional Council and the European funds of regional development (FEDER).
Hichri, B., Adouane, L., Fauroux, J.-C., Mezouar, Y. and Doroftei, I. (2019), "Flexible co-manipulation and transportation with mobile multi-robot system", Assembly Automation, Vol. 39 No. 3, pp. 422-431. https://doi.org/10.1108/AA-12-2017-190
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