Modeling and autonomous control of multiple mobile manipulators handling rigid objects

Abstract

This paper investigates a new method of modeling and simulation of a two wheeled Mobile Manipulators (MMs) system each equipped with a 6 DOF arm. Such system modeled in Matlab/Simulink (Simmechanic) environment is used to transport objects without explicit communication between the MMs. MMs cooperation control has received big interest in the last few years and has been suggested for various applications such as tasks involving hazardous environments, explosive handling, and space operations. However most research in MMs cooperation has been performed within 2D flat terrain environment. In this paper MMs are considered working in 3D space and we use the nonholonomic characteristics of the robotic manipulators which has been neglected in previous work. This paper describes a control algorithm for two MMs cooperation executing cooperation's tasks. The proposed approach uses common MM sensors. The paper includes the description of the proposed control mechanism that enables ground mobile manipulators to execute complex tasks in cooperation's. © Springer-Verlag Berlin Heidelberg 2012.