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

Research output: Contribution to journalArticle

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 languageEnglish
Pages (from-to)2695-2701
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume68
Issue number673
DOIs
Publication statusPublished - 2002 Jan 1

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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