Towards the Adaptive Control of a Multirobot System for an Elastic Hose

被引：0

作者：

Echegoyen, Zelmar ^{[1
]}

d'Anjou, Alicia ^{[1
]}

Villaverde, Ivan ^{[1
]}

Grana, Manuel ^{[1
]}

机构：

[1] Univ Basque Country, Grp Inteligencia Computac, Bilbao, Spain

来源：

ADVANCES IN NEURO-INFORMATION PROCESSING, PT I | 2009年 / 5506卷

关键词：

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper reports initial steps in the study of control strategies for a multi-robot system trying to move a flexible hose. Our starting point is the hose geometry modeling using cubic splines. The control problem is then stated as the problem of reaching a desired configuration of the spline control points from an initial configuration. The control of the hose by the multi-robot system is first solved neglecting the hose internal dynamics. This is the simplest ideal case. Then we give a model for the internal dynamics. Future and on going work is addressing the definition of a control system that takes into account the hose internal dynamic constraints.

引用

页码：1045 / 1052

页数：8

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