Handling a Single Object by Multiple Mobile Manipulators without Using Geometric Relations among Robots

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  • ロボット間の幾何学的関係を必要としない複数移動マニピュレータによる単一物体のハンドリング
  • ロボット カン ノ キカガクテキ カンケイ オ ヒツヨウ ト シナイ フクスウ イドウ マニピュレータ ニ ヨル タンイツ ブッタイ ノ ハンドリング

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Abstract

In this paper, we propose a decentralized control algorithm of multiple mobile manipulators handling a single object in coordination. In this algorithm, the grasping point of each robot is controlled as if it has a virtual 3-D caster dynamics and the handling of a single object by multiple mobile manipulators is realized based on a leader follower type control algorithm without using the geometric relations among robots. The proposed control algorithm is experimentally applied to multiple mobile manipulators, and the validity of the proposed control algorithm is illustrated by the experimental results.

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