Abstract
This paper proposes a multilayer scheme for the cooperative control of \( n \ge 2 \) heterogeneous mobile manipulators that allows to transport an object in common in a coordinated way; for which the kinematic modeling of each mobile manipulator robot is performed. Stability and robustness are demonstrated using the Lyapunov theory in order to obtain asymptotically stable control. Finally, the results are presented to evaluate the performance of the proposed control, which confirms the scope of the controller to solve different movement problems.
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Acknowledgments
The authors would like to thanks to the Corporación Ecuatoriana para el Desarrollo de la Investigación y Academia – CEDIA for the financing given to research, development, and innovation, through the CEPRA projects, especially the project CEPRA 2015; Tele-Operación Bilateral de Múltiples Manipuladores Móviles and to Grupo de Investigación en Automatización, Robótica y Sistemas Inteligentes, GI-ARSI, for the support to develop this paper.
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Molina, M.F., Ortiz, J.S. (2018). Coordinated and Cooperative Control of Heterogeneous Mobile Manipulators. In: Ge, S., et al. Social Robotics. ICSR 2018. Lecture Notes in Computer Science(), vol 11357. Springer, Cham. https://doi.org/10.1007/978-3-030-05204-1_47
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DOI: https://doi.org/10.1007/978-3-030-05204-1_47
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