Abstract
Given the unconstrained characteristics of the multi-robot coordinated towing system,the rope can only provide a unidirectional constraint force to the suspended object,which leads to the weak ability of the system to resist external disturbances and makes it difficult to control the trajectory of the suspended object.Based on the kinematics and statics of the multi-robot coordinated towing sys-tem with fixed base,the dynamic model of the system is established by using the Newton-Euler equations and the Udwadia-Kalaba equations.To plan the trajectories with high stability and strong control,trajectory planning is performed by combining the dynamics and stability of the towing sys-tem.Based on the dynamic stability of the motion trajectory of the suspended object,the stability of the suspended object is effectively improved through online real-time planning and offline manual ad-justment.The effectiveness of the proposed method is verified by comparing the motion stability of the suspended object before and after planning.The results provide a foundation for the motion plan-ning and coordinated control of the towing system.
基金项目
National Natural Science Foundation of China(51965032)
National Natural Science Foundation of Gansu Province of China(22JR5RA319)
Excellent Dectoral Student Foundation of Gansu Province of China(23JRRA842)
Science and Technology Foundation of Gansu Province of China(21YF5WA060)
维普
万方数据