Stability analysis of wheeled mobile multi-robot coordinated towing system

2022 ◽  
Author(s):  
Xiangtang Zhao ◽  
Zhigang Zhao ◽  
Shaohui Zhang ◽  
Cheng Su
Keyword(s):  
Stability Analysis ◽  
Multi Robot

Static workspace analysis of a multi-robot collaborative towing system with floating base

2021 ◽  
pp. 2150009
Author(s):  
Cheng Su ◽  
Jinghang Li ◽  
Wangcai Ding ◽  
Zhigang Zhao
Keyword(s):  
Monte Carlo ◽  
Stability Analysis ◽  
Monte Carlo Method ◽  
Dynamic Models ◽  
Configuration Optimization ◽  
Floating Base ◽  
Workspace Analysis ◽  
Simulation Calculation ◽  
Simulation Results ◽  
Multi Robot

The static workspace of the multi-robot collaborative towing system with floating base was analyzed. The spacial configuration of the system was built, and the system was divided into three types according to the actuation. The kinematic and dynamic models of the floating base and the towing system were established, respectively, by using the Newton-Euler equation. Then the static workspace of the system was analyzed, and the specific steps to solve the workspace with the improved Monte Carlo method were obtained. Finally, the static workspaces of three types of systems were solved though actual simulation calculation, the simulation results show that the improved Monte Carlo method can get a workspace with higher precision compare to the traditional Monte Carlo method. Results of this study lay a basis for the subsequent trajectory plan, stability analysis and configuration optimization of the system.

Sign in / Sign up

Export Citation Format

Share Document