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

doi:10.1299/kikaic.69.2895

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

ENG - Robotics

Research output: Contribution to journal › Article › peer-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 language	English
Pages (from-to)	2895-2901
Number of pages	7
Journal	Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	69
Issue number	11
DOIs	https://doi.org/10.1299/kikaic.69.2895
Publication status	Published - 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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Handling of an object by multiple mobile manipulators with virtual 3-D caster dynamics in cooperation with a human. / Hirata, Yasuhisa; Kume, Youhei; Wang, Zhi Dong; Kosuge, Kazuhiro.

In: Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 69, No. 11, 11.2003, p. 2895-2901.

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

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

Abstract

Keywords

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