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Modelling of Multiple, Physically Coupled Robots for Distributed Control of a Cooperative Manipulation Task


B. Schaule

Semester Thesis, FS16

Cooperative manipulation with multiple robots can provide more flexibility for a range of tasks, however requires more effort for modeling and control design. This semester project considers multiple, physically coupled robots for a cooperative manipulation task, where the single robots are controlled by decentralized impedance-controllers. After an introduction to robotic concepts, two modeling approaches for the interaction between the end effectors and the object will be introduced. First, a six-dimensional complete nonlinear physical model will be described, simulated and discussed. Second, a simplified three dimensional linear model restricted to translational movement will be presented. Similarities and differences in modeling and behavior will be investigated before concluding with a brief outlook.

Supervisors: Annika Eichler, Yvonne Stürz, Roy Smith


Type of Publication:

(13)Semester/Bachelor Thesis

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2017:IFA_5602
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