Cooperative Control Based on Absolute Positional Information of Grasped Object in Multiple Mobile Manipulators
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- Sugawara Toshiharu
- System Design Engineering, Keio Univ.
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- Murakami Toshiyuki
- System Design Engineering, Keio Univ.
Bibliographic Information
- Other Title
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- 把持対象物の絶対位置情報に基づいた複数台移動マニピュレータの協調制御
- ハジ タイショウブツ ノ ゼッタイ イチ ジョウホウ ニ モトヅイタ フクスウダイ イドウ マニピュレータ ノ キョウチョウ セイギョ
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Abstract
This paper describes a control strategy to realize grasping and cooperative motion in multiple mobile manipulators. In the general approach, the stable grasping motion is well realized, but the emergent motion such as the obstacle avoidance motion and the collision avoidance motion among the robots are not taken into account in the cooperative motion of multiple mobile manipulators. In the practical application, however, the above issue is important to realize an adaptive and sophisticated motion. The proposed approach introduces the null space motion based on the grasping matrix and the absolute position of target object in the grasping motion of the manipulator. In this case, each motion of mobile manipulator is given independently of the grasping and the cooperative motion, and the emergent motion is determined arbitrary. This is one of the remarkable features of the proposed strategy. Several numerical and experimental results show the validity of the proposed approach.
Journal
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- IEEJ Transactions on Industry Applications
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IEEJ Transactions on Industry Applications 123 (6), 689-695, 2003
The Institute of Electrical Engineers of Japan
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Details 詳細情報について
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- CRID
- 1390001204656409344
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- NII Article ID
- 130000084730
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- NII Book ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL BIB ID
- 6545717
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed