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Kinematic motion control of complian...

The University of Utah.

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Kinematic motion control of compliantly coupled multirobot systems subject to physical constraints.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Kinematic motion control of compliantly coupled multirobot systems subject to physical constraints./
作者:	Kim, Youngshik.
面頁冊數:	114 p.
附註:	Source: Dissertation Abstracts International, Volume: 69-06, Section: B, page: 3821.
Contained By:	Dissertation Abstracts International69-06B.
標題:	Engineering, Mechanical. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3318684
ISBN:	9780549681007

Kinematic motion control of compliantly coupled multirobot systems subject to physical constraints.
Kim, Youngshik.

Kinematic motion control of compliantly coupled multirobot systems subject to physical constraints. - 114 p.

Source: Dissertation Abstracts International, Volume: 69-06, Section: B, page: 3821.

Thesis (Ph.D.)--The University of Utah, 2008.

This dissertation presents kinematic motion control algorithms for n-axle Compliant Framed Modular Mobile Robots (CFMMRs). The CFMMR is a multirobot system composed of active unicycle type wheeled mobile robots coupled by passive compliant frames, which provides a challenge in control due to complicated robot kinematics and physical constraints. Most importantly, a controller must cooperatively coordinate robot motion to perform posture regulation, path following, and trajectory tracking while considering stability and physical robot constraints.

ISBN: 9780549681007Subjects--Topical Terms:

783786
Engineering, Mechanical.

Kinematic motion control of compliantly coupled multirobot systems subject to physical constraints.
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245 1 0 $a Kinematic motion control of compliantly coupled multirobot systems subject to physical constraints.
300 $a 114 p.
500 $a Source: Dissertation Abstracts International, Volume: 69-06, Section: B, page: 3821.
502 $a Thesis (Ph.D.)--The University of Utah, 2008.
520 $a This dissertation presents kinematic motion control algorithms for n-axle Compliant Framed Modular Mobile Robots (CFMMRs). The CFMMR is a multirobot system composed of active unicycle type wheeled mobile robots coupled by passive compliant frames, which provides a challenge in control due to complicated robot kinematics and physical constraints. Most importantly, a controller must cooperatively coordinate robot motion to perform posture regulation, path following, and trajectory tracking while considering stability and physical robot constraints.
520 $a This dissertation first develops novel kinematic controllers that can solve primary motion control problems simultaneously for single module nonholonomic mobile robots while considering physical constraints. General physical constraints of the robot are derived as path curvature and velocity limitations considering actuator limitations, mechanical design, vehicle dynamics, and wheel-terrain interactions. A novel path manifold concept is applied to derive a controller that can provide posture regulation, path following, and trajectory tracking capability while satisfying these constraints given allowable initial conditions. More recently, a second version of this controller is developed to resolve a singularity issue.
520 $a The control algorithm is then extended for multirobot coordination. In order to solve motion control problems of an n-axle CFMMR train ( n>=2), a distributed master-slave control structure is proposed such that the front axle module of the robot is the master and subsequent axle modules are slaves. The path manifold based controller is used as a global master controller. A slave controller is derived to satisfy compliant couplings. A steering algorithm then specifies a steering command in the slave controller. Two steering algorithms, with different specifications, are presented to coordinate control of slave axle and frame modules while considering traction limitations, path convergence, and posture regulation. Lastly, this dissertation focuses on coordinated control of a multirobot system in an array format for transporting large or heavy objects. A coordinated control algorithm based on steering ratios is proposed to drive the robot to a reference posture or target considering steering limitations and stability. Simulation and experimental results validate and characterize performance of the proposed control algorithms.
590 $a School code: 0240.
650 4 $a Engineering, Mechanical. $3 783786
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