文章基本信息

标题：On the Modelling of Tethered Mobile Robots as Redundant Manipulators
本地全文：下载
作者：Matteo Caruso ; Paolo Gallina ; Stefano Seriani 等
期刊名称：Robotics
电子版ISSN：2218-6581
出版年度：2021
卷号：10
期号：2
页码：81
DOI：10.3390/robotics10020081
出版社：MDPI Publishing
摘要：Controlling a chain of tethered mobile robots (TMRs) can be a challenging task. This kind of system can be considered kinematically as an open-chain robotic arm where the mobile robots are considered as a revolute joint and the tether is considered as a variable length link, using a prismatic joint. Thus, the TMRs problem is decoupled into two parallel problems: the equivalent robotic manipulator control and the tether shape computation. Kinematic redundancy is exploited in order to coordinate the motion of all mobile robots forming the chain, expressing the constraints acting on the mobile robots as secondary tasks for the equivalent robotic arm. Implementation in the Gazebo simulation environment shows that the methodology is capable of controlling the chain of TMRs in cluttered environments.
关键词：tethered mobile robots; redundant manipulators; kinematics; control; ROS simulations tethered mobile robots ; redundant manipulators ; kinematics ; control ; ROS simulations