سال انتشار: ۱۳۹۱

محل انتشار: بیستمین کنفرانس سالانه مهندسی مکانیک

تعداد صفحات: ۴

نویسنده(ها):

Adel Abbaspour – Research Assistant, K. N. Toosi University of Technology, Faculty of Mechanical Engineering
Khalil Alipour – Assistant Professor, Islamic Azad University, Qazvin Branch, Faculty of Mechanical and Industrial Engineering
S. Ali A Moosavian – Professor, K. N. Toosi University of Technology, Faculty of Mechanical Engineering

چکیده:

The aim of this investigation is to determine the optimal formation of a cooperative team of wheeled mobile robots. The desired task is transporting a heavy object from an initial pose to a predetermined final one such that the total consumed energy of the system is minimized. To solve the problem a cost function is considered which is a measure of the total consumed energy. Then the positions of the grasping points are searched based on some numerical methods and finally compared with each other. It will be assumed the platforms will keep a desired arrangement duringpayload transportation.