Handling of an object by multiple mobile manipulators in coordination based on caster-like dynamics

We propose a leader-follower type motion control algorithm of multiple mobile manipulators handling a single object in coordination. In this algorithm, the representative point of each robot is controlled as if it has a caster-like dynamics in 3-D space, and each robot handles a single object in coordination with other robots without using the geometric relations among the robots. The proposed control algorithm is experimentally applied to multiple mobile manipulators, and the validity of the proposed control algorithm is illustrated by the experimental results.