2011
IMAACA 2011 Proceeding
Task space control of grasped object in the case of multi-robots cooperating system
Authors: A Khadraoui, C. Mahfoudi, A. Zaatri, K Djouani
Abstract
- This paper deals with multi-robots grasping problem. We present an optimal force distribu- tion strategy for holding and manipulating objects by multiples manipulators. The force distribution issue is formulated in terms of a nonlinear programming problem under equality and inequality constraints. In particular, the friction constrains are transformed from non linear inequalities into a combination of linear equalities and linear inequalities. As a result, the original nonlinear constrained programming problem is then transformed into a quadratic optimization problem. The dynamical model of multi-robot cooperation has been used for determining force control distribution through proportional derivative (PD) controller. Simulation has been performed and some results are presented and discussed.
I3M Scientific Sponsors
I3M Industrial Sponsors
I3M Media Sponsors
