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Trajectory Planning for the Cooperative Manipulation of a Flexible Structure by Two Differentially-Driven Robots

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Abstract

In this paper we explore cooperative manipulation of a flexible structure using a team of two nonholonomically-constrained, differentially-driven 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 structure. The relative trajectories are designed by transforming an optimal-trajectory problem to a nonlinear programming problem. A tracking control law is also designed for the nonholonomic nature of the platforms with consideration for the challenges in cooperative manipulation. Results are presented for a simulation example, and a hardware demonstration for a simple case is used to demonstrate the feasibility of the approach.

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Authors and Affiliations

  1. Center for Advanced Aviation System Development, The MITRE Corporation, 7515 Colshire Drive, McLean, VA, 22102, USA

    Lesley A. Weitz

  2. Department of Aerospace Engineering, Texas A&M University, 3141 TAMU, College Station, TX, 77843, USA

    James Doebbler, Kristen E. Johnson & John E. Hurtado

Authors
  1. Lesley A. Weitz
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  2. James Doebbler
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  3. Kristen E. Johnson
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  4. John E. Hurtado
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Corresponding author

Correspondence to Lesley A. Weitz.

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Research performed at the Department of Aerospace Engineering, Texas A&M University.

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Weitz, L.A., Doebbler, J., Johnson, K.E. et al. Trajectory Planning for the Cooperative Manipulation of a Flexible Structure by Two Differentially-Driven Robots. J Intell Robot Syst 58, 149–163 (2010). https://doi.org/10.1007/s10846-009-9350-x

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  • DOI: https://doi.org/10.1007/s10846-009-9350-x

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