Cart (Loading....) | Create Account
Close category search window

Coordinated Kinematic Control of Compliantly Coupled Multirobot Systems in an Array Format

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Youngshik Kim ; Dept. of Mech. Eng., Univ. of Utah, Salt Lake City, UT, USA ; Minor, M.A.

This paper presents coordinated kinematic control of compliantly coupled multirobot systems for payload transportation. In the robot, unicycle-type axles are connected to a moving platform in an array format using compliant frames. A coordinate system is attached to an ideal center point on the platform to establish robot kinematics. In order to drive the system along a reference trajectory, we coordinate axle velocity commands, while considering frame compliance, nonholonomic constraints, and rigid body kinematics, respectively. These commands are further coordinated to consider configuration stability and physical limitations. Simulation and experimental results evaluate the coordination algorithms for various trajectories.

Published in:

Robotics, IEEE Transactions on  (Volume:26 ,  Issue: 1 )

Date of Publication:

Feb. 2010

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.