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Formation control of mobile robotic manipulators

Stefan, Andrei Cristian (2018) Formation control of mobile robotic manipulators. Integration Project, Industrial Engineering and Management.


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The aim of this thesis is to provide a possible application for a multi mobile robotic manipulator system that could be used in a smart factory. These robots can be deployed cooperatively in order to achieve difficult tasks, such as transporting a large or heavy object. The system consists of autonomous mobile platforms, each equipped with an arm manipulator. The control architecture is designed and validated using the control law proposed by Garcia de Marina et al. in [15], in combination with a classical PID control approach.

Item Type: Thesis (Integration Project)
Supervisor name: Jayawardhana, B. and Munoz Arias, M.
Degree programme: Industrial Engineering and Management
Thesis type: Integration Project
Language: English
Date Deposited: 06 Jul 2018
Last Modified: 13 Jul 2018 07:17

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