Decentralized control of multiple mobile manipulators handling a single object in coordination

被引：0
|
作者：
Kume, Y [1 ]
Hirata, Y [1 ]
Wang, Z [1 ]
Kosuge, K [1 ]
机构：
[1] Tohoku Univ, Dept Machine Intelligence & Syst Engn, Sendai, Miyagi 9808579, Japan
来源：
2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS | 2002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：
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 caster-like dynamics in 3-D space, and each robot handles a single object in coordination with other robots without using the geometric relations among the robots. The proposed control algorithm is experimentally applied to three mobile manipulators, and the validity of the proposed control algorithm is illustrated by the experimental results.
引用
收藏
页码：2758 / 2763
页数：6
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