Slave Coordinated Speed Analysis and Coordinated Control Method

Abstract

When the container is being repaired, it is necessary to transfer the container to be repaired between the temporary storage area and the repair area. Due to the large size, when manually transported by forklift, the line of sight is blocked, there is a great safety hazard and efficiency. It is relatively low, and it is inconvenient to use a single mobile robot to carry it. Therefore, to solve this problem, a dual-mobile robot collaborative operation system is developed, and two mobile robots are used to move containers together to complete container maintenance and handling. Through the analysis of the cooperative handling of the dual mobile robots, a mathematical model of the cooperative movement of the dual mobile robots is established, and kinematics analysis is carried out to provide a theoretical basis for controlling the cooperative operation of the dual mobile robots.