Cooperative Transportation by Multiple Mobile Manipulators using Adaptive NN Control

— 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.

• Type: Conference
• Year: 2006
• Where: IJCNN
• Authors: Xin Chen, Yangmin Li
• Keywords: IJCNN 2006, Object Transportation, Proper Relative Distances, Robots