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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Screw-Theoretic Analysis Framework for Cooperative Payload Transport by Mobile Manipulator Collectives
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Screw-Theoretic Analysis Framework for Cooperative Payload Transport by Mobile Manipulator Collectives

机译：机动机器人集体有效载荷协同运输的螺旋理论分析框架

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摘要

In recent times, there has been considerable interest in creating and deploying modular cooperating collectives of robots. Interest in such cooperative systems typically arises when certain tasks are either too complex to be performed by a single agent or when there are distinct benefits that accrue by cooperation of many simple robotic modules. However, the nature of both the individual modules as well as their interactions can affect the overall system performance. In this paper, we examine this aspect in the context of cooperative payload transport by robot collectives wherein the physical nature of the interactions between the various modules creates a tight coupling within the system. We leverage the rich theoretical background of analysis of constrained mechanical systems to provide a systematic framework for formulation and evaluation of system-level performance on the basis of the individual-module characteristics. The composite multi-degree-of-freedom (DOF) wheeled vehicle, formed by supporting a common payload on the end-effectors of multiple individual mobile manipulator modules, is treated as an in-parallel system with articulated serial-chain arms. The system-level model, constructed from the twist- and wrench-based models of the attached serial chains, can then be systematically analyzed for performance (in terms of mobility and disturbance rejection). A two-module composite system example is used throughout the paper to highlight various aspects of methodical system model formulation, effects of selection of active, passive or locked articulations on system performance, and experimental validation on a hardware prototype test bed.
机译：最近，人们对创建和部署模块化的机器人协作集合产生了极大的兴趣。当某些任务过于复杂而无法由单个代理执行时，或者由于许多简单的机器人模块的合作而产生了明显的好处时，通常会对这种协作系统产生兴趣。但是，各个模块的性质以及它们之间的相互作用都可能影响整个系统的性能。在本文中，我们在机器人集体协作有效载荷运输的背景下研究了这一方面，其中各个模块之间交互的物理性质在系统内建立了紧密的耦合。我们利用受约束的机械系统分析的丰富理论背景，为基于单个模块特性的系统级性能的制定和评估提供系统的框架。通过在多个单独的移动机械手模块的末端执行器上支撑公共负载而形成的复合多自由度（DOF）轮式车辆被视为带有铰接式串行链臂的并联系统。然后，可以从附加串行链的基于扭扭和扳手的模型构建的系统级模型的性能（就移动性和干扰抑制而言）进行系统分析。在整个论文中，使用了一个由两个模块组成的复合系统示例，以突出系统的系统模型制定的各个方面，主动，被动或锁定关节的选择对系统性能的影响，以及在硬件原型测试床上进行的实验验证。

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