POSTURE ALIGNING AND MERGING SYSTEM FOR BOAT BLOCKS--REALIZATION OF COORDINATED MANIPULATION WITH A MULTI-ROBOT SYSTEM
船体分段位姿找正对接系统--一个多机器人协调操作系统的实现

This paper has studied the application of multi robot coordination in a merging system for posture alignment of huge and heavy boat blocks. The system architecture, organization and posture coordinated manipulation method are proposed based on multiple 3DOF mobile robots. By virtue of the blocks merging technology, the blocks kinetic model was built as a rigid body moving with small displacement. The trajectory method of robot joints is also presented after the establishment of relationship among the coordinate systems of basis block, merging block and single robot.