Cooperative manipulation of a flexible object by nonholonomically- constrained robots Conference Paper uri icon

abstract

  • Future space exploration will likely include teams of autonomous robots that perform various tasks in order to minimize human risk and maximize mission efficiency. In this paper we explore cooperative manipulation of a flexible object using a team of two nonholonomically-constrained robots. Cooperative manipulation is achieved by tracking relative trajectories that are designed for both the nonholonomic nature of the platforms and path constraints limiting the deformation of the flexible object. Optimal trajectories are designed using nonlinear programming, and a tracking control law is ao presented. Results are presented for both a simulation example and a hardware demonstration of a simple case to demonstrate the feasibility of the approach. 2008 by L. A. Weitz, J. Doebbler, K. E. Holmstrom, and J. E. Hurtado.

published proceedings

  • AIAA Guidance, Navigation and Control Conference and Exhibit

author list (cited authors)

  • Weitz, L. A., Doebbler, J., Holmstrom, K. E., & Hurtado, J. E.

complete list of authors

  • Weitz, LA||Doebbler, J||Holmstrom, KE||Hurtado, JE

publication date

  • December 2008