Coordinated Motion Control of Mobile Self-Reconfigurable Robots in Virtual Rigid Framework
This paper presents a control method for the coordinated motion of a mobile self-reconfigurable robotic system. By utilizing a virtual rigid framework, the system ensures that its configuration remains stable and intact, while enabling modular units to collaboratively track the required trajectory a...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-12-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/12/12/888 |
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| Summary: | This paper presents a control method for the coordinated motion of a mobile self-reconfigurable robotic system. By utilizing a virtual rigid framework, the system ensures that its configuration remains stable and intact, while enabling modular units to collaboratively track the required trajectory and velocity for mobile tasks. The proposed method generates a virtual rigid structure with a specific configuration and introduces an optimized controller with dynamic look-ahead distance and adaptive steering angle. This controller calculates the necessary control parameters for the virtual rigid structure to follow the desired trajectory and speed, providing a unified reference framework for the coordinated movement of the module units. A coordination controller, based on kinematics and adaptive sliding mode control, is developed to enable each module to track the motion of the virtual rigid structure, ensuring the entire robotic system follows the target path while maintaining an accurate configuration. Extensive simulations and experiments under various configurations, robot numbers, and environmental conditions demonstrate the effectiveness and robustness of the proposed method. This approach shows strong potential for applications in smart factories, particularly in material transport and assembly line supply. |
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| ISSN: | 2075-1702 |