A coordinated control algorithm based on the caster-like motion for a car transportation system -iCART

Mitsuru Endo, Kenji Hirose, Yasuhisa Hirata, Kazuhiro Kosuge, Yusuke Sugahara, Koki Suzuki, Kazunori Murakami, Kenichi Nakamura, Masaki Nakanishi, Takashi Kanbayashi

研究成果: Conference contribution

7 被引用数 (Scopus)

抄録

The car transportation system, which termed as iCART (intelligent Cooperative Autonomous Robot Transporters) , is developed for handling the car in the narrow space, substituting the parking and unmanning the transportation of cars. iCART is composed of two robots and these robots transport the car in coordination based on a leaderfollower type distributed motion control algorithm. To avoid damaging the surface of the car, tires of the car are putted on, not grasped by, the end-effecter of robots. Thus, when force/moment applied to the car by robots becomes large, the slip at the contact of the robot with the car occurs. Due to the slip, the relative position between robots is changed. In a conventional algorithm, the relative position is used for the control. Thus, after the contact of the robot with the car slips,occasionally, robots could not coordinate. For overcoming this problem, the motion control algorithm based on the casterlike motion is applied to the car transportation system iCART in this paper. Since this algorithm does not use the relative position information, the system becomes robust against the slip at the contact of the robot with the car. The proposed motion control algorithm is applied to iCART and experimental result illustrates the validity of the proposed algorithm.

本文言語English
ホスト出版物のタイトル2009 IEEE International Conference on Robotics and Automation, ICRA '09
ページ2350-2355
ページ数6
DOI
出版ステータスPublished - 2009 11 2
イベント2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
継続期間: 2009 5 122009 5 17

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Other

Other2009 IEEE International Conference on Robotics and Automation, ICRA '09
CountryJapan
CityKobe
Period09/5/1209/5/17

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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