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The Effect of Remote Center Compliance Parameters on Formation Control of Cooperative Wheeled Mobile Robots for Object Manipulation

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Abstract

Formation control is a potential advanced technology for aircrafts, spacecrafts and space robots. This paper, for the first time, studies several methods of passive and semi-active Remote Center Compliance (RCC) in order to examine their effects on formation control of a group of Wheeled Mobile Robots (WMRs) for object manipulation during space/terrestrial explorations. To this end, first, the dynamics model of the constrained non-holonomic robots, object and RCC system have been derived precisely. A leader-follower control strategy is then utilized for trajectory tracking of the desired path by the cooperative robots. Finally, the passive and semi active RCC are optimized to make the formation robust in the presence of significant disturbances. The results obtained reveal that the semi-active RCC system, combined with a PID controller, reduces the effect of the disturbances experienced as compared to the other passive RCC modules.

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Author information

Authors and Affiliations

  1. Industrial and Mechanical Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran

    Khalil Alipour

  2. Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran

    Adel Abbaspour

Authors
  1. Khalil Alipour
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  2. Adel Abbaspour
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Corresponding author

Correspondence to Khalil Alipour.

Additional information

Recommended by Associate Editor Yangmin Li under the direction of Editor Hyun-Seok Yang. The authors would like to thank the financial support provided by Islamic Azad University, Qazvin Branch, for accomplishing this research.

Khalil Alipour received his B.S., M.S. and Ph.D. degrees all with honors in Mechanical Engineering from K. N. Toosi University of Technology, in 2002, 2004 and 2010, respectively. Currently, he is an Assistant Professor with the Faculty of New Sciences and Technologies at University of Tehran. He teaches courses in the areas of robotics, dynamics, automatic control, analysis and synthesis of mechanisms. His research interests are in the areas of dynamics modeling, automatic control, motion/path planning of robotic systems and tip-over stability analysis of mobile robots. He has published various articles in international peer reviewed journals and conference proceedings.

Adel Abbaspour received his B.S. and M.S. degrees in Mechanical Engineering from K. N. Toosi University of Technology, in 2009 and 2011, respectively. Currently, he is a designer of modern control systems in Iran’s industry. Meanwhile, he is research assistance at Advanced Robotics and Automated Systems Lab. (ARAS) at K. N. Toosi University of Technology. His research interests are in the areas of dynamics modeling, automatic control, motion/path planning of robotic systems and fault tolerant in formation of mobile base robots.

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Alipour, K., Abbaspour, A. The Effect of Remote Center Compliance Parameters on Formation Control of Cooperative Wheeled Mobile Robots for Object Manipulation. Int. J. Control Autom. Syst. 16, 306–317 (2018). https://doi.org/10.1007/s12555-016-0604-7

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  • DOI: https://doi.org/10.1007/s12555-016-0604-7

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