State Estimation and Model-Predictive Control for Multi-Robot Handling and Tracking of AGV Motions using iGPS
Christoph Storm,Henrik Hose,Robert H. Schmitt,Christoph Storm,Henrik Hose,Robert H. Schmitt
In this paper, we present a solution for simultaneous handling of large components with industrial robots performing synchronized motions with an AGV in flexible flow assembly. For this purpose, we implement an Extended Kalman Filter with a global localization system to track an AGV and multiple manipulators. We propose a model-predictive controller for force compliance and trajectory tracking in ...
