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Mobile manipulators for cooperative transportation of objects in common

Abstract:

This work proposes a kinematic control scheme for the coordinated transport of an object by two anthropomorphic mobile manipulator robots. The proposed control scheme is based on a cascade system formed by three subsystems that treats a specific part as the problem of coordination and cooperation, thus giving greater flexibility to the proposed system. The stability of the proposed controller for tracking trajectories is demonstrated analytically using the Lyapunov method, obtaining that the control is asymptotically stable. Finally, results are shown, where it is demonstrate that the evolution of the configuration of the system converges to the desired formation according to the theoretical design planned.