In this work we consider the problem of mobile robots that need to manipulate/transport an object via cables or robotic arms. We consider the scenario where the number of manipulating robots is redundant, i.e. a desired object configuration can be obtained by different configurations of the robots. The objective of this work is to show that communication can be used to implement cooperative local feedback controllers in the robots to improve disturbance rejection and reduce structural stress in the object. In particular we consider the realistic scenario where measurements are sampled and transmitted over wireless, and the sampling period is comparable with the system dynamics time constants. We first propose a kinematic model which is consistent with the overall systems dynamics under high-gain control and then we provide sufficient conditions for the exponential stability and monotonic decrease of the configuration error under different norms. Finally, we test the proposed controllers on the full dynamical systems showing the benefit of local communication.
翻译:在这项工作中,我们考虑了需要通过电缆或机器人臂操纵/运输物体的流动机器人问题。我们考虑了需要通过电缆或机器人臂操纵/运输物体的移动机器人问题。我们考虑了操纵机器人的数量是多余的情景,即机器人的不同配置可以取得理想的物体配置。这项工作的目的是表明,可以利用通信在机器人中实施合作的地方反馈控制器来改进扰动阻断并减少物体的结构压力。我们特别考虑了通过无线取样和传输测量结果的现实情景,以及取样周期与系统动态常数的可比性。我们首先提出了符合在高增益控制下总体系统动态的动态的动态模型,然后为不同规范下的配置错误的指数稳定性和单调降提供了充分条件。最后,我们测试了拟议的全动态控制器,展示了本地通信的好处。