A Hybrid Design for a Cooperative Multi-Robot Transportation System
Abstract
In this paper we address the cooperative manipulation and transportation of a payload by multiple aerial robots in 3-dimensional space. We modeled the multi-robot system (MRS) as a parallel kinematic manipulator (PKM) using screw theory and formulate its kinematic equations and conditions for static equilibrium. The PKM is formed by the payload and groups of robots rigidly attached to the payload, which can be regarded as virtual legs. Using the PKM, we present a hybrid coordination framework with a hierarchical structure, based on a centralized inter-group manipulation at top level and a distributed intra-group manipulation at lower level. The former solves the direct kinematics of the PKM in a centralized manner and the latter consists of a distributed formation control within a virtual leg. We present simulation results which verify the presented coordination framework.
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Index Terms
- A Hybrid Design for a Cooperative Multi-Robot Transportation System
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Published In
February 2017
183 pages
ISBN:9781450352802
DOI:10.1145/3068796
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- York University
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Association for Computing Machinery
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Published: 08 February 2017
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- Refereed limited
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ICMRE 2017
ICMRE 2017: 2017 3rd International Conference on Mechatronics and Robotics Engineering
February 8 - 12, 2017
Paris, France
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