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
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;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.606803
