Decentralized Collaborative Load Transport by Multiple Robots, ICRA

Abstract-With the rapid progress of the robotic technology, it is becoming increasingly common to have multiple robots working together for material transport, cooperative assembly, etc. To ensure the proper handling of the load, especially if it is fragile or needs to be moved rapidly, the constraint force needs to be carefully managed. Tight force coordination is possible if all robots share their force information and the grasp geometry is completely known. When this is not the case, a common approach is to use the leader/follower strategy, where the leader provides the position control for the load and other robots comply based on the individual contact force measurements. This paper considers an alternate decentralized motion and force control method, where all robots participate in the control of the load without sharing any position and force information. Under centralized squeeze force control, robot motion is not affected. However, when the force control is decentralized, a perturbation term is added to the motion control loop. We show that the nominal exponential stability of the motion loop preserves the closed loop stability in the presence of this perturbation. Simulation and experimental results are included to demonstrate the proposed approach

Aeronautical engineering: A continuing bibliography with indexes (supplement 250)

This bibliography lists 420 reports, articles, and other documents introduced into the NASA scientific and technical information system in February, 1990. Subject coverage includes: design, construction and testing of aircraft and aircraft engines; aircraft components, equipment and systems; ground support systems; and theoretical and applied aspects of aerodynamics and general fluid dynamics

NASA Tech Briefs, Summer 1979

Topics include: NASA TU Services: Technology Utilization services that can assist you in learning about and applying NASA technology; New Product Ideas: A summary of selected innovations of value to manufacturers for the development of neW products; Electronic Components and Circuits; Electronic Systems; Physical Sciences; Materials; Life Sciences; Mechanics; Machinery; Fabrication Technology; Mathematics and Information Sciences

The Production of Space

ix,454 halaman;bibliografi;indeks, 23 c