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Cooperative Grasping Control of Multiple Nonholonomic Mobile Manipulators with Obstacle Avoidance
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.advisor | 이동준 | - |
| dc.contributor.author | 양현수 | - |
| dc.date.accessioned | 2017-07-14T03:33:30Z | - |
| dc.date.available | 2017-07-14T03:33:30Z | - |
| dc.date.issued | 2014-02 | - |
| dc.identifier.other | 000000018242 | - |
| dc.identifier.uri | https://hdl.handle.net/10371/123753 | - |
| dc.description | 학위논문 (석사)-- 서울대학교 대학원 : 기계항공공학부, 2014. 2. 이동준. | - |
| dc.description.abstract | We present a novel cooperative grasping control framework for multiple kine-
matic nonholonomic mobile manipulators. Our control framework enables mul- tiple mobile manipulators to drive the grasped object with velocity commands, while rigidly maintaining the grasping shape with no dedicated grasp-enforcing xtures. And also, obstacle avoidance framework either via their whole formation maneuver or internal formation reconguration is proposed. For this, nonholo- nomic passive decomposition [1, 2] is utilized to split the robots' motion into the three aspects (i.e., grasping shape | - |
| dc.description.abstract | grasped object maneuver | - |
| dc.description.abstract | internal motions)
so that we can control these aspects simultaneously and separately. Peculiar dy- namics of the internal motions is exploited to achieve obstacle avoidance via the formation reconguration. Simulations are performed to support the theory. | - |
| dc.description.tableofcontents | List of Figures iv
Abbreviations vi Symbols vii 1 Introduction 1 1.1 Motivation and Objectives 1 1.2 Relevant Works 3 2 System Description 6 2.1 System Model 6 2.2 Grasping Map h(q) 9 3 Nonholonomic Passive Decomposition 12 3.1 Nonholonomic passive decomposition 12 3.1.1 Shape Distribution 14 3.1.2 Quotient Distribution 15 3.1.3 Locked Distribution 15 3.1.4 Properties of Modes 16 3.2 Grasping Control 23 4 Obstacle Avoidance 25 4.1 Obstacle Avoidance Control Design 25 4.1.1 Obstacle Avoidance via Whole Formation Control 26 4.1.2 Obstacle Avoidance via Internal Motion 29 4.1.3 Avoidance Feasibility 33 5 Conclusion and Future Work 38 5.1 Conclusion 38 5.2 Future Work 39 Bibliography 39 Acknowledgements 45 | - |
| dc.format | application/pdf | - |
| dc.format.extent | 1512559 bytes | - |
| dc.format.medium | application/pdf | - |
| dc.language.iso | en | - |
| dc.publisher | 서울대학교 대학원 | - |
| dc.subject | Nonholonomic constraint | - |
| dc.subject | Mobile manipulator | - |
| dc.subject | Obstacle avoidance | - |
| dc.subject | Cooperative control | - |
| dc.subject.ddc | 621 | - |
| dc.title | Cooperative Grasping Control of Multiple Nonholonomic Mobile Manipulators with Obstacle Avoidance | - |
| dc.type | Thesis | - |
| dc.contributor.AlternativeAuthor | Hyunsoo Yang | - |
| dc.description.degree | Master | - |
| dc.citation.pages | vii,45 | - |
| dc.contributor.affiliation | 공과대학 기계항공공학부 | - |
| dc.date.awarded | 2014-02 | - |
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