Handling of an object by multiple mobile manipulators with virtual 3-D caster dynamics in cooperation with a human

Yasuhisa Hirata, Youhei Kume, Zhi Dong Wang, Kazuhiro Kosuge

Research output: Contribution to journalArticlepeer-review

Abstract

In this paper, we propose a decentralized control algorithm of multiple mobile manipulators for handling a single object in cooperation with a human. In this algorithm, a grasping point of each mobile manipulator is controlled as if it has a caster-like dynamics referred to as virtual 3-D caster, and each mobile manipulator could handle the object based on an intentional force/moment applied by a human. In addition, the coordination among multiple mobile manipulators was realized without using the geometric relations among robots. The proposed control algorithm is experimentally applied to two mobile manipulators and experimental results illustrate the validity of the proposed control algorithm.

Original languageEnglish
Pages (from-to)2895-2901
Number of pages7
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume69
Issue number11
DOIs
Publication statusPublished - 2003 Nov

Keywords

  • Coordinated motion control
  • Motion control
  • Moving robot
  • Robot
  • Virtual caster-like dynamics

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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