Mechanical Engineering Commons^™

Object Manipulation Using A Multirobot Cluster With Force Sensing, Matthew H. Chin

Mechanical Engineering Master's Theses

This research explored object manipulation using multiple robots by developing a control system utilizing force sensing. Multirobot solutions provide advantages of redundancy, greater coverage, fault-tolerance, distributed sensing and actuation, and reconfigurability. In object manipulation, a variety of solutions have been explored with different robot types and numbers, control strategies, sensors, etc. This research involved the integration of force sensing with a centralized position control method of two robots (cluster control) and building it into an object level controller. This controller commands the robots to push the object based on the measured interaction forces between them while maintaining proper formation with …