Cooperative Transportation by Three Omni-directional Mobile Manipulators with Wire Mechanism

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  • ワイヤを用いた3台の全方向移動マニピュレータにおける協調搬送

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<p>This paper discusses cooperative transport system using three position controlled manipulators. However, cooperative transport using multiple manipulators has several problems. The most important problem is an internal force occurring in a conveyed object due to mutual position error of the manipulators. Therefore, we suggest a cooperative transport system using wires as mechanical compliance to solve the problem. The object is fixed by using six wires and can build the system which internal force does not produce. In addition, we devised the correction method of object's position and posture error at the positioning point due to the position error of the base of manipulators that occurred when transported the object.</p>

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