| ZHAO Zhigang(赵志刚),ZHAO Xiangtang,WEI Qizhe,SU Cheng,MENG Jiadong.[J].高技术通讯(英文),2024,30(1):43~51 |
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| Trajectory planning for multi-robot coordinated towing system based on stability |
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| DOI：10. 3772 / j. issn. 1006-6748. 2024. 01. 005 |
| 中文关键词: |
| 英文关键词: towing system, unconstrained system, trajectory planning, dynamic stability |
| 基金项目: |
| Author Name | Affiliation | | ZHAO Zhigang(赵志刚) | (School of Mechanical Engineering, Lanzhou Jiaotong University, Lanzhou 730070, P. R. China) | | ZHAO Xiangtang | | | WEI Qizhe | | | SU Cheng | | | MENG Jiadong | |
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| 中文摘要: |
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| 英文摘要: |
| 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 system 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 system. 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 adjustment. 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 planning and coordinated control of the towing system. |
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