Calibration of coordinate system for decentralized coordinated motion control of multiple manipulators

Kazuhiro Kosuge, H. Seki, T. Oosumi

Research output: Contribution to journalConference articlepeer-review

2 Citations (Scopus)

Abstract

We propose a method to calibrate the orientation error between the leader coordinate system and each of the follower for the leader-follower type decentralized coordinated motion control system of multiple robots using motion estimators. This method uses the relation between the velocity vector of the manipulated object in the leader coordinate system and the velocity vector in each of the follower coordinate system. The orientation error is estimated recursively by using the extended Kalman filter. Experimental results illustrate the effectiveness of the proposed method.

Original languageEnglish
Article number680947
Pages (from-to)3297-3302
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume4_1998
DOIs
Publication statusPublished - 1998 Jan 1
Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
Duration: 1998 May 161998 May 20

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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