Handling of an object by multiple mobile manipulators in coordination based on caster-like dynamics

被引：30
|
作者：
Hirata, Y [1 ]
Kume, YH [1 ]
Sawada, T [1 ]
Wang, ZD [1 ]
Kosuge, K [1 ]
机构：
[1] Tohoku Univ, Dept Bioengn & Robot, Sendai, Miyagi 9808579, Japan
来源：
2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年
关键词：
D O I：
10.1109/ROBOT.2004.1307248
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 leader-follower type motion control algorithm of multiple mobile manipulators handling a single object in coordination. In this algorithm, the representative 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 multiple mobile manipulators, and the validity of the proposed control algorithm is illustrated by the experimental results.
引用
收藏
页码：807 / 812
页数：6
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