Title :
A kinematic analysis of locomotive cooperation for two mobile robots along a general wavy road
Author :
Hara, Fumio ; Yasui, Yuji ; Aritake, Toshiyuki
Author_Institution :
Dept. of Mech. Eng., Sci. Univ. of Tokyo, Japan
Abstract :
This paper deals with a kinematic analysis of locomotive cooperation necessary for two mobile robots to carry a long bar along a general wavy road. The robots are assumed to be driven by a crawler mechanism and to have a single link arm which moves in a prismatic way. The robots have a task to carry a long bar keeping its height and length constant and its posture horizontal. The analysis of kinematic conditions done for a sinusoidal wavy road is expanded for a general wavy road and the authors find that there exist two kinds of cooperation mode: one is to change the direction of locomotion and the other is to alternate the robot role from “master” to “servant” and vis-vasa
Keywords :
cooperative systems; mobile robots; position control; robot kinematics; crawler mechanism; kinematic analysis; locomotive cooperation; mobile robots; single link arm; wavy road; Automatic control; Communication system control; Crawlers; Kinematics; Mechanical engineering; Mobile robots; Motion control; Roads; Robot control; Robotics and automation;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525443
