DocumentCode
2203391
Title
Load sharing of decentralized-controlled multiple mobile robots handling a single object
Author
Kosuge, Kazuhiro ; Oosumi, Tomohiro ; Chiba, Kunihiko
Author_Institution
Dept. of Machine Intelligence & Syst. Eng., Tohoku Univ., Sendai, Japan
Volume
4
fYear
1997
fDate
20-25 Apr 1997
Firstpage
3373
Abstract
In this paper, we propose a decentralized control algorithm of multiple robots handling a single object in coordination. Different from our previous control algorithm the external force applied to the object, including the inertia force, is shared equally by all of the robots. The proposed control algorithm is experimentally applied to three mobile robots, each of which has one degree of freedom. The experimental results illustrate the validity of the proposed control system
Keywords
compliance control; cooperative systems; decentralised control; force control; mobile robots; motion control; compliance control; decentralized-control; force control; load sharing; motion control; multiple mobile robots; object handling; Algorithm design and analysis; Centralized control; Control systems; Distributed control; Force control; Mobile robots; Motion control; Motion estimation; Robot control; Robot kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location
Albuquerque, NM
Print_ISBN
0-7803-3612-7
Type
conf
DOI
10.1109/ROBOT.1997.606803
Filename
606803
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