A car transportation system using multiple coordinated robots: ICART (2nd report, a distributed coordination control algorithm)

Mitsuru Endo, Kazuhiro Kosuge, Kenji Hirose, Yasuhisa Hirata, Yusuke Sugahara, Koki Suzuki, Takashi Kanbayashi

Research output: Contribution to journalArticle

Abstract

We proposed a novel car transportation system termed as iCART (intelligent Cooperative Autonomous Robot Transporters). This system transports cars using two mobile robots that move in coordination. In this paper, a leader-follower type decentralized motion control algorithm considering the effect of rolling friction at the contact of the end-effector with the ground is proposed. The consideration of the rolling friction effect is needed, because an end-effector of the robot is grounded for supporting weight of a car. The proposed algorithm was applied to the experimental system, and experiments were done. Experimental results illustrate the validity of the proposed algorithms.

Original languageEnglish
Pages (from-to)103-109
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume76
Issue number761
DOIs
Publication statusPublished - 2010 Jan
Externally publishedYes

Keywords

  • Car transportation system, multiple robot coordination, distributed control

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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