On the Modelling of Tethered Mobile Robots as Redundant Manipulators
Controlling a chain of tethered mobile robots (TMRs) can be a challenging task. This kind of system can be considered kinematically as an open-chain robotic arm where the mobile robots are considered as a revolute joint and the tether is considered as a variable length link, using a prismatic joint....
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-06-01
|
| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/10/2/81 |
| _version_ | 1797530344546631680 |
|---|---|
| author | Matteo Caruso Paolo Gallina Stefano Seriani |
| author_facet | Matteo Caruso Paolo Gallina Stefano Seriani |
| author_sort | Matteo Caruso |
| collection | DOAJ |
| description | Controlling a chain of tethered mobile robots (TMRs) can be a challenging task. This kind of system can be considered kinematically as an open-chain robotic arm where the mobile robots are considered as a revolute joint and the tether is considered as a variable length link, using a prismatic joint. Thus, the TMRs problem is decoupled into two parallel problems: the equivalent robotic manipulator control and the tether shape computation. Kinematic redundancy is exploited in order to coordinate the motion of all mobile robots forming the chain, expressing the constraints acting on the mobile robots as secondary tasks for the equivalent robotic arm. Implementation in the Gazebo simulation environment shows that the methodology is capable of controlling the chain of TMRs in cluttered environments. |
| first_indexed | 2024-03-10T10:27:34Z |
| format | Article |
| id | doaj.art-99b7e14c17ca41c483b036f78aa0fb39 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-10T10:27:34Z |
| publishDate | 2021-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-99b7e14c17ca41c483b036f78aa0fb392023-11-21T23:53:51ZengMDPI AGRobotics2218-65812021-06-011028110.3390/robotics10020081On the Modelling of Tethered Mobile Robots as Redundant ManipulatorsMatteo Caruso0Paolo Gallina1Stefano Seriani2Department of Engineering and Architecture, University of Trieste, via A. Valerio 6/1, 34127 Trieste, ItalyDepartment of Engineering and Architecture, University of Trieste, via A. Valerio 6/1, 34127 Trieste, ItalyDepartment of Engineering and Architecture, University of Trieste, via A. Valerio 6/1, 34127 Trieste, ItalyControlling a chain of tethered mobile robots (TMRs) can be a challenging task. This kind of system can be considered kinematically as an open-chain robotic arm where the mobile robots are considered as a revolute joint and the tether is considered as a variable length link, using a prismatic joint. Thus, the TMRs problem is decoupled into two parallel problems: the equivalent robotic manipulator control and the tether shape computation. Kinematic redundancy is exploited in order to coordinate the motion of all mobile robots forming the chain, expressing the constraints acting on the mobile robots as secondary tasks for the equivalent robotic arm. Implementation in the Gazebo simulation environment shows that the methodology is capable of controlling the chain of TMRs in cluttered environments.https://www.mdpi.com/2218-6581/10/2/81tethered mobile robotsredundant manipulatorskinematicscontrolROS simulations |
| spellingShingle | Matteo Caruso Paolo Gallina Stefano Seriani On the Modelling of Tethered Mobile Robots as Redundant Manipulators Robotics tethered mobile robots redundant manipulators kinematics control ROS simulations |
| title | On the Modelling of Tethered Mobile Robots as Redundant Manipulators |
| title_full | On the Modelling of Tethered Mobile Robots as Redundant Manipulators |
| title_fullStr | On the Modelling of Tethered Mobile Robots as Redundant Manipulators |
| title_full_unstemmed | On the Modelling of Tethered Mobile Robots as Redundant Manipulators |
| title_short | On the Modelling of Tethered Mobile Robots as Redundant Manipulators |
| title_sort | on the modelling of tethered mobile robots as redundant manipulators |
| topic | tethered mobile robots redundant manipulators kinematics control ROS simulations |
| url | https://www.mdpi.com/2218-6581/10/2/81 |
| work_keys_str_mv | AT matteocaruso onthemodellingoftetheredmobilerobotsasredundantmanipulators AT paologallina onthemodellingoftetheredmobilerobotsasredundantmanipulators AT stefanoseriani onthemodellingoftetheredmobilerobotsasredundantmanipulators |