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

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

doi:10.1299/kikaic.64.2589

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 journal › Article › peer-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 language	English
Pages (from-to)	2589-2595
Number of pages	7
Journal	Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	64
Issue number	623
DOIs	https://doi.org/10.1299/kikaic.64.2589
Publication status	Published - 1998
Externally published	Yes

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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10.1299/kikaic.64.2589

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Calibration of Coordinate Systems for Decentralized Motion Control of Multiple Manipulators in Coordination. / Kosuge, Kazuhiro; Seki, Hiroyuki; Oosumi, Tomohiro; Sakai, Masaru; Kanitani, Kiyoshi.

In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 64, No. 623, 1998, p. 2589-2595.

Research output: Contribution to journal › Article › peer-review

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AU - Kanitani, Kiyoshi

PY - 1998

Y1 - 1998

N2 - 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.

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

Abstract

Keywords

ASJC Scopus subject areas

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