Flexible co-manipulation and transportation with mobile multi-robot system. Issue 3 (16th October 2018)

• Record Type: Journal Article
• Authors: Hichri, Bassem; Adouane, Lounis; Fauroux, Jean-Christophe; Mezouar, Youcef; Doroftei, Ioan
• Is Part Of: Assembly automation. Volume 39:Issue 3(2019)
• Page Start: 422
• Page End: 431
• Publication Date: 2018-10-16
• Subjects: Control architecture -- Cooperative mobile robots -- Navigation in formation -- Payload co-manipulation and co-transportation -- Robots positioning -- Virtual structure approach; Automation -- Periodicals; Automatic machinery -- Periodicals; Assembly-line methods -- Periodicals; Industrial engineering -- Periodicals; 670.42705
• DOI: 10.1108/AA-12-2017-190
• Languages: English
• ISSNs: 0144-5154

Abstract

Abstract : Purpose: The purpose of this paper is to address optimal positioning of a group of mobile robots for a successful manipulation and transportation of payloads of any shape. Design/methodology/approach: The chosen methodology to achieve optimal positioning of the robots around the payload to lift it and to transport it while maintaining a geometric multi-robot formation is presented. This appropriate configuration of the set of robots is obtained by combining constraints ensuring stable and safe lifting and transport of the payload. A suitable control law is then used to track a virtual structure in which each elementary robot has to keep its desired position with respect to the payload. Findings: An optimal positioning of mobile robots around a payload to ensure stable co-manipulation and transportation task according to stability multi-criteria constraints. Simulation and experimental results validate the proposed control architecture and strategy for a successful transportation task based on virtual structure navigation approach. Originality/value: This paper presents a new strategy for co-manipulation and co-transportation task based on a virtual structure navigation approach. An algorithm for optimal positioning of mobile robots around a payload of any mass and shape is proposed while ensuring stability during the whole process by respecting multi-criteria task stability constraints.