A modular approach to multi-robot control
The ability to rapidly command multi-robot behavior is crucial for the acceptance and effective utilization of multiple robot control. To achieve this, a modular- multiple robot control solution is being, pursued using the SMART modular control architecture. This paper investigates the development of a new dual-arm kinematics module (DUAL-KLN) which allows multiple robots, previously controlled as separate stand-alone systems, to be controlled as a coordinated multi-robot system. The DUAL-KIN module maps velocity and force information from a center point of interest on a grasped object to the tool centers of each grasping robot. Three-port network equations are used and mapped into the scattering operator domain in a computationally efficient form. Application examples of the DUAL-KLN module in multi-robot coordinated control are given.
- Research Organization:
- Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC04-94AL85000
- OSTI ID:
- 211585
- Report Number(s):
- SAND-96-0570C; CONF-951206-3; ON: DE96006408
- Resource Relation:
- Conference: 34. IEEE conference on decision and control, New Orleans, LA (United States), 13-15 Dec 1995; Other Information: PBD: [1996]
- Country of Publication:
- United States
- Language:
- English
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