Path planning and control of a cooperative three-robot system manipulating large objects

After a brief review of the current research on multi-robot systems, the paper presents a path planning and control scheme for a cooperative three-robot system transferring/manipulating a large object from an initial to a desired final position/orientation. The robots are assumed to be capable of holding the object at three points that define an isosceles triangle. The mode of operation adopted is that of a "master-and-two-slave robots". The control scheme employs the differential displacement of the object which is transformed into that of the end-effector of each robotic arm, and then used to compute the differential displacements of the joints of the robots. The scheme was applied to several 3-robot systems by simulation and proved to be adequately effective, subject to certain conditions regarding the magnitude of the differential displacements. Here, an example is included which concerns the case of three Staubli RX-90L robots.