Abstract
In this paper, we propose a decentralized control algorithm of multiple mobile robots transport- ing an object in coordination without using force/torque sensors. In this algorithm, each robot is controlled as if it has a specified impedance dynamics, using the identified parameters of each robot, without using a force/torque sensor. These robots transport a object in coordination using a leader-follower type control algorithm. We also consider the effect of parameter identification errors and propose a method to reduce the effect of them. The proposed control algorithm is experimentally applied to two mobile robots, and the experimental results illustrate the validity of the proposed control algorithm.
Original language | English |
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Pages (from-to) | 2695-2701 |
Number of pages | 7 |
Journal | Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
Volume | 68 |
Issue number | 673 |
DOIs | |
Publication status | Published - 2002 |
Keywords
- Coordinated Motion Control
- Impedance Control
- Moving Robot
- Robot
- Sensor
ASJC Scopus subject areas
- Mechanics of Materials
- Mechanical Engineering
- Industrial and Manufacturing Engineering