Trajectory planning for multi-robot coordinated towing system based on stability  

作　　者：赵志刚 ZHAO Xiangtang WEI Qizhe SU Cheng MENG Jiadong ZHAO Zhigang;ZHAO Xiangtang;WEI Qizhe;SU Cheng;MENG Jiadong(School of Mechanical Engineering,Lanzhou Jiaotong University,Lanzhou 730070,P.R.China)

机构地区：[1]School of Mechanical Engineering,Lanzhou Jiaotong University,Lanzhou 730070,P.R.China

出　　处：《High Technology Letters》2024年第1期43-51,共9页高技术通讯（英文版）

基　　金：the National Natural Science Foundation of China(No.51965032);the National Natural Science Foundation of Gansu Province of China(No.22JR5RA319);the Excellent Dectoral Student Foundation of Gansu Province of China(No.23JRRA842);the Science and Technology Foundation of Gansu Province of China(No.21YF5WA060)。

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.

关 键 词：towing system unconstrained system trajectory planning dynamic stability 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]