Multiple robots motion control to transport an object

摘要

This paper presents transporting algorithm for multiple robots to transport a concave or convex object. The object transporting includes three processes: calculating proper points process; approaching proper points process; and transporting an object process. Using fuzzy sliding mode control algorithm, we design a kinematic velocity controller. We also propose a dynamic torque controller by adaptive sliding mode control algorithm. Finally, simulations and experiment show good performance of proposed methods.