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Trajectory Planning for the Cooperative Manipulation of a Flexible Structure by Two Differentially-Driven Robots

Authors
  • Weitz, Lesley A.1
  • Doebbler, James2
  • Johnson, Kristen E.2
  • Hurtado, John E.2
  • 1 The MITRE Corporation, Center for Advanced Aviation System Development, 7515 Colshire Drive, McLean, VA, 22102, USA , McLean (United States)
  • 2 Texas A&M University, Department of Aerospace Engineering, 3141 TAMU, College Station, TX, 77843, USA , College Station (United States)
Type
Published Article
Journal
Journal of Intelligent & Robotic Systems
Publisher
Springer-Verlag
Publication Date
Jul 14, 2009
Volume
58
Issue
2
Pages
149–163
Identifiers
DOI: 10.1007/s10846-009-9350-x
Source
Springer Nature
Keywords
License
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Abstract

In this paper we explore cooperative manipulation of a flexible structure using a team of two nonholonomically-constrained, differentially-driven robots. Cooperative manipulation is achieved by tracking relative trajectories that are designed for both the nonholonomic nature of the platforms and path constraints limiting the deformation of the flexible structure. The relative trajectories are designed by transforming an optimal-trajectory problem to a nonlinear programming problem. A tracking control law is also designed for the nonholonomic nature of the platforms with consideration for the challenges in cooperative manipulation. Results are presented for a simulation example, and a hardware demonstration for a simple case is used to demonstrate the feasibility of the approach.

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