Coordinated motion control of multiple mobile manipulators based on virtual 3-D caster

Y. Hirata, Y. Kume, Zhi Dong Wang, K. Kosuge

Research output: Contribution to conferencePaperpeer-review

1 Citation (Scopus)

Abstract

In this paper, we propose two types of cooperation system, of multiple mobile manipulators based on the caster-like dynamics referred to as virtual 3-D caster for handling a single object in 3-D space. One is the human-robots cooperation system, in which a human handle a single object in cooperation with multiple mobile manipulators. The other is the leader-follower type cooperation system, in which a mobile manipulator referred to as leader handle a single object together with other mobile manipulators referred to as follower. In both control algorithms, the grasping point of each mobile manipulator is controlled as if it has a caster-like dynamics in 3-D space, so that the multiple mobile manipulators could realize the cooperation for handling a single object without using the geometric relations among the robots. The proposed control algorithms are experimentally applied to multiple mobile manipulators, and the validities of the proposed control algorithms are illustrated by the experimental results.

Original languageEnglish
Pages19-24
Number of pages6
DOIs
Publication statusPublished - 2003
EventIEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003 - Changsha, Hunan, China
Duration: 2003 Oct 82003 Oct 13

Other

OtherIEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003
Country/TerritoryChina
CityChangsha, Hunan
Period03/10/803/10/13

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Signal Processing
  • Artificial Intelligence

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