Theoretical Background




  • Background of the system in terms of the physical architecture and the operative/communication system.












    Physical Architecture.
    Car-like robot with <br>body force sensor
    Car-like robot with body force sensor [3]




  • Control system will be based on an autonomous robot configuration system rather than a leader-follower system.
  • Use SSA (Subsumption Architecture).
          Two main control layers:
          1. For the trajectory when both robots are carrying the object.
          2. For the cooperative lifting of the object.









    Body Force Sensor
    Body Force Sensor





    How does it work?

  • Located beneath the body of the robot and over the drive mechanism.
  • The sum of the forces reported by the links will be used to calculate the total force in the center of the sensor plate using:
    Fbody = transpose(J) * Flink

    Where:
  • Flink is the vector that represents the forces applied to the links,
  • Fbody, resulting vector of forces in the 3D space and the resulting moment in the sensor
  • J is the Jacobian matrix of the parallel link mechanism defined by a vector of the link lenght (l) and the vector representing the position and orientation of the sensor plate (x) as:
    J = dl/dx




    Communication System (Operative System)
  • Based upon the ICRoS developed by Fujita and Kimura in [1].
  • It offers integration and accesibility.




    How does it work?


  • Object oriented language and based on SmallTalk protocol.
  • Two kinds of operations supported by this OS, ParOperations and SeqOperations.





    Execution of a cooperative operation using ICRoS
    Execution of a cooperative operation using ICRoS [1]
    Contents
    Research Proposal 1