Dynamic Analysis and Trajectory Solution of Multi-Robot Coordinated Towing System

doi:10.1007/s12204-023-2649-0

Abstract

Abstract: Multi-robot coordinated towing system is an under-constrained system. The dynamic response of the towing system can not be fully controlled since the rope can only provide a unidirectional constraint force to the suspended object. Based on the kinematics of the multi-robot coordinated towing system with fixed-base, the Newton-Euler equations and Udwadia-Kalaba equations were used to establish the dynamics of the towing system. To obtain the motion trajectories with high stability and strong control, the motion trajectories of the towing system were optimized. During the towing, the transition from the relaxation state to the tension state of the rope was treated as a collision between the suspended object and the robot end. The trajectories of the towing system in terms of a single-variable and multiple-variable were solved, respectively. The simulation shows that the optimized trajectories are closer to reality and truly reflect the constraints of the ropes on the suspended object. The research results provide a basis for trajectory planning and control of the towing system.

Key words: multi-robot system, towing system, dynamics, rope state, motion trajectory

摘要： 针对多机协调吊运系统的欠约束特性，柔索只能对被吊运物提供单向约束力，导致吊运系统的动态响应不能完全控制。以固定基多机器人协调吊运系统的运动学为基础，利用牛顿-欧拉方程和Udwadia-Kalaba方程建立吊运系统的动力学模型。为了得到稳定性高且控制性强的运动轨迹，对吊运系统的运动轨迹进行了优化。在吊运过程中，将柔索松弛状态和张紧状态的转变过程视为被吊运物与机器人末端的碰撞。通过分析吊运系统在单自由度变量和多自由度变量求解的运动轨迹，结果表明优化后的运动轨迹更接近实际，真实反映了柔索对被吊运物的约束。研究结果为该吊运系统的轨迹规划和协调控制提供了依据。

关键词: 多机器人系统，吊运系统，动力学，柔索状态，运动轨迹

CLC Number:

ZHAO Xiangtang, ZHAO Zhigang, WEI Qizhe, SU Cheng. Dynamic Analysis and Trajectory Solution of Multi-Robot Coordinated Towing System[J]. J Shanghai Jiaotong Univ Sci, 2025, 30(6): 1134-1143.

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