Analysis and Calculation of Feasible Region of Multi-Robot Combined Lifting System

Abstract

Abstract:

Abstract： A closedloop kinematic chain composed of multirobots and used to tow a common object was presented and the feasible regions including the position feasible region and the posture feasible region were defined. Based on the given system structure and the relationship displacement and velocity constrain, the position and posture kinematics models of the system were built, and the dynamic model of the system was established. Based on object position and posture, the feasible regions of position and posture were analyzed, and a method to solve the feasible regions of position and posture of the system by Mentocarlo algorithm was given. Finally, under the given parameters conditions, the feasible regions of position and posture of the system by numerical calculation method were obtained, which will lay a solid foundation for future research of trajectory planning, path tracking, and stability of the system.

Key words: multi-robot lifting； kinematics model； , feasible regions of position; , feasible regions of posture

CLC Number:

TP 242.2

ZHAO Zhigang1,TENG Fujun1,SHI Guangtian1，LI Jinsong2,JI Gang2. Analysis and Calculation of Feasible Region of Multi-Robot Combined Lifting System[J]. Journal of Shanghai Jiaotong University, 2015, 49(08): 1174-1180.

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