Coordinated Transportation of an Object by Multiple Mobile Robots without Using Force/Torque Sensors

Youhei Kume; Yasuhisa Hirata; Kazuhiro Kosuge; Hajime Asama; Hayato Kaetsu; Kuniaki Kawabata

doi:10.1299/kikaic.68.2695

Coordinated Transportation of an Object by Multiple Mobile Robots without Using Force/Torque Sensors

Youhei Kume, Yasuhisa Hirata, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

ENG - Robotics

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

1 Citation (Scopus)

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
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	https://doi.org/10.1299/kikaic.68.2695
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

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10.1299/kikaic.68.2695

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Coordinated Transportation of an Object by Multiple Mobile Robots without Using Force/Torque Sensors. / Kume, Youhei; Hirata, Yasuhisa; Kosuge, Kazuhiro et al.

In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 68, No. 673, 2002, p. 2695-2701.

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

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AU - Kume, Youhei

AU - Hirata, Yasuhisa

AU - Kosuge, Kazuhiro

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AU - Kaetsu, Hayato

AU - Kawabata, Kuniaki

PY - 2002

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AB - 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.

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KW - Impedance Control

KW - Moving Robot

KW - Robot

KW - Sensor

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Coordinated Transportation of an Object by Multiple Mobile Robots without Using Force/Torque Sensors

Abstract

Keywords

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