Model predictive disturbance rejection during cooperative mobile robot assembly tasks
AUTOR(ES)
Sujan, V. A., Meggiolaro, M. A.
FONTE
Journal of the Brazilian Society of Mechanical Sciences and Engineering
DATA DE PUBLICAÇÃO
2004-09
RESUMO
This paper addresses the problem of disturbance compensation for the successful assembly of structures by mobile field robots. A control architecture, consisting of a linear PID joint controller with model predictive feed-forward compensation for mobile base motions and interactive-force disturbance rejection is discussed. Object insertion is achieved by predicting environment-object contact states and motions are planned in the direction of least resistance. Issues addressed include dynamic modeling of multiple cooperative robots, control architecture design and stability analysis, and environment-object contact state prediction. Simulation results show the effectiveness of the control architecture.
