Deciding grasping positions and regrasping action by cooperating multiple mobile robots

When multiple mobile robots cooperate in carrying large objects, it is important for them to be located in appropriate positions. This paper describes optimal grasping positions of robots and regrasping procedure for carrying an object by cooperating multiple mobile robots. Regrasping action is performed by several exchanges of the robots, the number of which is more than the number of robots to be need of the load on the robots. Then, we propose a method for deciding the optimal grasping positions of them and optimal regrasping times by using the performance index. The regrasping procedure is decided in consideration of the intermediate situation between the initial situation and the optimal one. A numerical example shows the effectiveness of the proposed method