Calibration of Coordinate Systems for Decentralized Motion Control of Multiple Manipulators in Coordination

Kazuhiro Kosuge, Hiroyuki Seki, Tomohiro Oosumi, Masaru Sakai, Kiyoshi Kanitani

Research output: Contribution to journalArticlepeer-review

Abstract

In this paper, we propose a new method to calibrate the orientation error between the leader's coordinate system and each follower's for the leader-follower type of a decentralized coordinated motion control system of multiple robots using motion estimators(9). This method uses the relation between the leader's velocity vector in the leader's coordinate system and each follower's velocity vector in the follower's 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
Pages (from-to)2589-2595
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume64
Issue number623
DOIs
Publication statusPublished - 1998
Externally publishedYes

Keywords

  • Calibration
  • Decentralized Control
  • Manipulator
  • Motion Control
  • Multiple Robots
  • Robot

ASJC Scopus subject areas

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

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