A Framework for Kinematic and Dynamic Motion Planning for a Formation of Mobile Robots
作者： Thomas Sugar , Jaydev P. Desai
DOI: 10.1080/10798587.2004.10642885
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摘要: Abstract We present a modeling framework which combines kinematic and dynamic aspects of motion planning task. This paper presents the control algorithms for multiple mobile manipulators cooperatively grasping transporting an object. The tasks are decentralized, explicitly incorporates protocols used to coordinate robots in team. is flexible sense that it scales with number controllers.The problems of: a) (kinematic) b) force sensing (dynamic) formation decoupled. A graph theoretic approach coordinates while stiffness matrices describe Experimental results team aze presented, simulation illustrate extensions our larger robots.
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