Abstract
It is a challenging task for multiple robots working together to realize object transportation. This paper studies a practical situation that a group of mobile manipulators are used to transport an object whose mass can not be ignored. From the viewpoint of formation, a leader-follower type control is designed. To overcome parameter uncertainty in modeling robot, a decentralized control law is applied to individual robots, in which an adaptive NN is used to model robot dynamics online. Using Lyapunov theory, we have proved that if all endeffectors of robots will keep proper relative distances with a regular formation to manipulate a heavy object, the object will be transported to the destination at last. But due to parameter uncertainties, there may exist a static position error, which can be reduced by proper selection of control coefficients.
Original language | English |
---|---|
Title of host publication | International Joint Conference on Neural Networks 2006, IJCNN '06 |
Pages | 4193-4200 |
Number of pages | 8 |
Publication status | Published - 1 Dec 2006 |
Externally published | Yes |
Event | International Joint Conference on Neural Networks 2006, IJCNN '06 - Vancouver, BC, Canada Duration: 16 Jul 2006 → 21 Jul 2006 |
Conference
Conference | International Joint Conference on Neural Networks 2006, IJCNN '06 |
---|---|
Country/Territory | Canada |
City | Vancouver, BC |
Period | 16/07/06 → 21/07/06 |
ASJC Scopus subject areas
- Software