Abstract
This article describes the design and implementation of a centralized cooperative control algorithm of mobile manipulators (mobile differential platform manipulator and an omnidirectional platform manipulator) for the execution of diverse tasks in which the participation of two or more robots is necessary, e.g., the handling or transport of objects of a high weight, keeping a platform level at a fixed height, among others. For this, a sliding mode control technique is used that is applied to a fixed operating point located in a virtual line that is generated between the end effectors of the manipulator arms. For the validation of the proposed controller, the stability criterion of Lyapunov will be used and the simulation will be performed to validate the performance and performance of the proposed controller between two heterogeneous manipulators.
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Acknowledgements
The authors would like to thanks to the Corporación Ecuatoriana para el Desarrollo de la Investigación y Academia –CEDIA for the financing given to research, development, and innovation, through the CEPRA projects, especially the project CEPRA-XI-2017- 06; Control Coordinado Multi-operador aplicado a un robot Manipulador Aéreo; also to Universidad de las Fuerzas Armadas ESPE, Universidad Técnica de Ambato, Escuela Superior Politécnica de Chimborazo, and Universidad Nacional de Chimborazo, and Grupo de Investigación en Automatización, Robótica y Sistemas Inteligentes, GI-ARSI, for the support to develop this work.
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Mora-Aguilar, J., Carvajal, C.P., Sánchez, J.S., Andaluz, V.H. (2018). Cooperative Control of Sliding Mode for Mobile Manipulators. In: Ge, S., et al. Social Robotics. ICSR 2018. Lecture Notes in Computer Science(), vol 11357. Springer, Cham. https://doi.org/10.1007/978-3-030-05204-1_25
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