In this paper, we discuss a problem relating to the force/moment transformation for the handling of a large object by multiple mobile robots in coordination. We propose a control algorithm using geometrical constraints among the grasping points and the representative point of the object, which reduce the effect of noise amplified by force/moment transformation. We extend this algorithm to the decentralized control algorithm of multiple robots handling an object in coordination. The proposed control algorithm is experimentally applied to the mobile robots. Experimental results illustrate the validity of the proposed control algorithm.
|Number of pages||8|
|Journal||Proceedings - IEEE International Conference on Robotics and Automation|
|Publication status||Published - 1999 Jan 1|
|Event||Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA|
Duration: 1999 May 10 → 1999 May 15
ASJC Scopus subject areas
- Control and Systems Engineering