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Michael RSS2009
Michael RSS2009
Michael RSS2009
1 (a) (b)
(a) α = β = 0, λ > 0 (b) α = β = 0, 0 < λ < 2
mg
Fig. 4. Determining the pose of the payload for hovering robots via
spherical coordinates (Fig. 4(a)). Given a representative robot configuration,
five equilibrium solutions for the pose of the payload are found via the
methods in Sect. III-B (Fig. 4(b)). The only stable configuration is orange
(as noted in Table I).
{β− , β+ , β− } if Fx > 0
β=
{β+ , β− , β+ } otherwise
{α− , α+ } if Fx > 0
(a) (b)
α=
{α+ , α− } otherwise Platform Error
1
and for the intervals [−π, −π/2], [−π/2, π/2], and [π/2, π]
m2
0.5
0
45 50 55 60 65 70 75 80 85
{β− , β+ , β− } if Fx > 0
1
β=
{β+ , β− , β+ } otherwise
rad2
0.5
0
45 50 55 60 65 70 75 80 85
Time (s)
Of course, there remains the trivial solution of α = β = 0
(c)
when Fx = Fy = 0.
Therefore, we may define a force F = [Fx , Fy , Fz ] T in the 1
Robot Positions
x (m)
0
world frame that is transformed into appropriate control inputs −1
−2
via (10, 12). To this end, we compute F in implementation 2
45 50 55 60 65 70 75 80 85
y (m)
1
based on proportional-integral-derivative (PID) feedback con- 0
−1
trol laws determined by the desired robot configurations with 45 50 55 60 65 70 75 80 85
2
z (m)
Fig. 7. Snapshots demonstrating cooperative manipulation and transportation. The team starts from initial conditions before takeoff (Fig. 7(a)), stabilizes the
platform at each desired pose (Figs.7(b) – 7(d)), and returns the payload to the first pose before landing (Fig. 7(e)). Colored circles highlight individual robot
positions during the evolution of the experiment. Videos of the experiments are available at http://kumar.cis.upenn.edu/movies/RSS2009.flv
Platform Pose
and drive each robot to the desired goal. The underlying con- 1
X (m)
trol system avoids inter-robot collisions via a simple potential 0.5
0
Y (m)
0.5
0
kqi −qj k > 2R for all pairs of robots. This results in a smooth, 20 30 40 50 60 70 80 90 100 110 120 130
Z (m)
though unplanned, trajectory for the payload. Figures 7 and 0.5
0
8 depict several snapshots during this experiment and the 50
20 30 40 50 60 70 80 90 100 110 120 130
Roll (deg)
resulting system performance, respectively. 0
−50
This experiment demonstrates that even though the manipu- 20 30 40 50 60 70 80 90 100 110 120 130
Pitch (deg)
50
−50
and orient the payload as commanded. The small oscillations Yaw (deg) 50
20 30 40 50 60 70 80 90 100 110 120 130
−50
of the low damping and perturbations in the robot positions. 20 30 40 50 60 70
Time (s)
80 90 100 110 120 130
constraints in (a-d). 0
Figure 9 illustrates the effective workspace QM parameter- 20 30 40 50 60 70 80 90 100 110 120 130
ized by (x̂1 , ŷ1 , ŷ2 ). Indeed for a given payload pose, there are
0.5
z (m)