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 | |
| Publication status | Published - 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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Cite this
Kume, Y., Hirata, Y., Kosuge, K., Asama, H., Kaetsu, H., & Kawabata, K. (2002). Coordinated Transportation of an Object by Multiple Mobile Robots without Using Force/Torque Sensors. Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 68(673), 2695-2701. https://doi.org/10.1299/kikaic.68.2695