DocumentCode
391523
Title
Traction control of load by distributed force of two mobile robots
Author
Hashimoto, Hiroshi ; Amano, Naoki ; Ishii, Chiharu
Author_Institution
Fac. of Eng., Tokyo Univ. of Technol., Japan
Volume
2
fYear
2002
fDate
5-8 Nov. 2002
Firstpage
1549
Abstract
This paper discusses the cooperative traction work on a load by two mobile robots. The reference trajectory of the load is given as a function of time, and the robots pull the load such that the load tracks the given reference trajectory. To achieve this, the virtual traction force vector generated by the PID controller is divided between the two mobile robots. Two force division methods of the virtual traction force vector are proposed, and their effectivenesses are examined through the simulation experiments.
Keywords
force control; mobile robots; multi-robot systems; position control; three-term control; traction; PID controller; cooperative traction work; distributed force; force division methods; load; mobile robots; position control; reference trajectory tracking; traction control; virtual traction force vector; Force control; Friction; Gravity; Mobile robots; Position control; Robot kinematics; Three-term control; Trajectory; Uniform resource locators;
fLanguage
English
Publisher
ieee
Conference_Titel
IECON 02 [Industrial Electronics Society, IEEE 2002 28th Annual Conference of the]
Print_ISBN
0-7803-7474-6
Type
conf
DOI
10.1109/IECON.2002.1185510
Filename
1185510
Link To Document