Cooperative control of multiple mobile manipulators on uneven ground

被引：0
|
作者：
Osumi, H [1 ]
Terasawa, M [1 ]
Nojiri, H [1 ]
机构：
[1] Chuo Univ, Fac Sci & Engn, Dept Prec Mech, Bunkyo Ku, Tokyo 112, Japan
来源：
1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4 | 1998年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We have proposed a simple method for carrying a large object by cooperation of multiple mobile manipulators with position controllers. Manipulators on mobile platforms are used as fi ee joint mechanisms by locking some joints and making the rest joints free. These free joints play the role of mechanical compliance in order to avoid excessive inner forces due to the mutual positioning errors. In this paper, we will discuss how to determine feedback control laws for cooperation of mobile platforms on uneven ground. First, compliance needed for cooperation among position-controlled robots, the statics and error characteristics of cooperative systems including compliant mechanisms are reviewed Second, three feedback control laws for platforms moving on uneven ground are proposed and their control performance is investigated. After additional improved control laws are proposed, the proposed control laws are used for a prototype cooperative system consisting of three moving tables driven by ball screws and the effectiveness of the proposed law is verified.
引用
收藏
页码：3198 / 3203
页数：2
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