Virtual Structure Based Formation Tracking of Multiple Wheeled Mobile Robots: An Optimization Perspective

Today, with the increasing development of science and technology, many systems need to be optimized to find the optimal solution of the system. this kind of problem is also called optimization problem. Especially in the formation problem of multi-wheeled mobile robots, the optimization algorithm can help us to find the optimal solution of the formation problem. In this paper, the formation problem of multi-wheeled mobile robots is studied from the point of view of optimization. In order to reduce the complexity of the formation problem, we first put the robots with the same requirements into a group. Then, by using the virtual structure method, the formation problem is reduced to a virtual WMR trajectory tracking problem with placeholders, which describes the expected position of each WMR formation. By using placeholders, you can get the desired track for each WMR. In addition, in order to avoid the collision between multiple WMR in the group, we add an attraction to the trajectory tracking method. Because MWMR in the same team have different attractions, collisions can be easily avoided. Through simulation analysis, it is proved that the optimization model is reasonable and correct. In the last part, the limitations of this model and corresponding suggestions are given

Evaluation of generalized force derivatives by means of a recursive Newton-Euler approach

An accurate estimation of the dynamics efforts acting on a robot manipulator represents an important issue for both the analysis of its behavior and the synthesis of appropriate controllers. This paper proposes an iterative algorithm, which is based on the Newton–Euler approach, for the efficient evaluation of the manipulators’ high-order kinematics and dynamics. In particular, the algorithm computes velocities, accelerations, and jerks of each link, while new dynamic equations are devised in order to evaluate the first derivative of generalized forces. Due to its moderate computational burden, the algorithm is suited to be used in online applications

Numerical solutions for design and dynamic control of compliant robots

This work is focused on the development of numerical methods for the design and control of robots, with particular emphasis on joint elasticity. First, a general methodology is presented that is able to solve the problem of computing the inverse dynamics of a serial robot manipulator with an arbitrarily large number of elastic joints in a recursive numerical way. The solution algorithm is a generalized version of the standard Newton-Euler approach. The algorithm is presented with numerous extensions and variants, including the extension to variable-stiffness technologies and control applications. Then, an optimization framework is introduced for the design and analysis of biped walkers characterized by elastic joints, with comparative results demonstrating the scope of application of joint compliance in bipedal walking