Constraint of contacting points in cooperative handling

Author

Sasaki, Jun ; Yamashita, Atsushi ; Miyata, Natsuki ; Aiyama, Yasumichi ; Ota, Jun ; Arai, Tamio

Author_Institution

Dept. of Precision Machinery Eng., Tokyo Univ., Japan

Volume

3

fYear

1998

fDate

13-17 Oct 1998

Firstpage

1425

Abstract

We are going to analyze on the constraint among contacting points between robots and an object that is manipulated by the robot group. Constraint can be obtained by solving pseudo inverse of matrix filled by force data measured by all robots supporting one object. The result provides additional information for obtaining a relative positioning information to the object to ordinary constraint based on geometrical reasons. This analysis on the constraint has been verified by sensing system. The model explained here can be used for estimating contacting points, fitting coordinate system among robots, and making active sensing strategy for detecting the change of environment

Keywords

cooperative systems; geometry; inverse problems; materials handling; matrix algebra; mobile robots; multi-robot systems; contacting point constraint; cooperative handling; force data; geometry; matrix pseudo inverse; multiple robot group; Distributed control; Force measurement; Information analysis; Machinery; Mobile robots; Robot kinematics; Robot sensing systems; Shape; Stability; Transportation;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on

Conference_Location

Victoria, BC

Print_ISBN

0-7803-4465-0

Type

conf

DOI

10.1109/IROS.1998.724789

Filename

724789