Coordinating multiple groups of robots for gaiting process

摘要

Coordinated robots are categorized into different groups when the coordination involves robot interchange or heterogeneous motion during the manipulation process. We investigated problems related to the control and coordination of multiple groups of robots and developed a general strategy and control algorithm for controlling one group of robots. We developed a method for determining the force distribution among the participating robots in a frictional equilibrium case. The control algorithm and the force determination procedure can be adopted in coordinating multiple groups of robots. Scenarios and restrictions for coordinating two groups of robots in turning a disk continuously are discussed. An example is given to illustrate the gaiting process. © 1996 John Wiley & Sons, Inc.