Calibration of coordinate system for decentralized coordinated motion control of multiple manipulators

Kazuhiro Kosuge; H. Seki; T. Oosumi

doi:10.1109/ROBOT.1998.680947

Calibration of coordinate system for decentralized coordinated motion control of multiple manipulators

Kazuhiro Kosuge, H. Seki, T. Oosumi

ENG - Robotics

Research output: Contribution to journal › Conference article › peer-review

1 Citation (Scopus)

Abstract

We propose a method to calibrate the orientation error between the leader coordinate system and each of the follower for the leader-follower type decentralized coordinated motion control system of multiple robots using motion estimators. This method uses the relation between the velocity vector of the manipulated object in the leader coordinate system and the velocity vector in each of the follower coordinate system. The orientation error is estimated recursively by using the extended Kalman filter. Experimental results illustrate the effectiveness of the proposed method.

Original language	English
Article number	680947
Pages (from-to)	3297-3302
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	4_1998
DOIs	https://doi.org/10.1109/ROBOT.1998.680947
Publication status	Published - 1998 Jan 1
Event	15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium Duration: 1998 May 16 → 1998 May 20

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ROBOT.1998.680947

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title = "Calibration of coordinate system for decentralized coordinated motion control of multiple manipulators",

abstract = "We propose a method to calibrate the orientation error between the leader coordinate system and each of the follower for the leader-follower type decentralized coordinated motion control system of multiple robots using motion estimators. This method uses the relation between the velocity vector of the manipulated object in the leader coordinate system and the velocity vector in each of the follower coordinate system. The orientation error is estimated recursively by using the extended Kalman filter. Experimental results illustrate the effectiveness of the proposed method.",

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TY - JOUR

T1 - Calibration of coordinate system for decentralized coordinated motion control of multiple manipulators

AU - Kosuge, Kazuhiro

AU - Seki, H.

AU - Oosumi, T.

PY - 1998/1/1

Y1 - 1998/1/1

N2 - We propose a method to calibrate the orientation error between the leader coordinate system and each of the follower for the leader-follower type decentralized coordinated motion control system of multiple robots using motion estimators. This method uses the relation between the velocity vector of the manipulated object in the leader coordinate system and the velocity vector in each of the follower coordinate system. The orientation error is estimated recursively by using the extended Kalman filter. Experimental results illustrate the effectiveness of the proposed method.

AB - We propose a method to calibrate the orientation error between the leader coordinate system and each of the follower for the leader-follower type decentralized coordinated motion control system of multiple robots using motion estimators. This method uses the relation between the velocity vector of the manipulated object in the leader coordinate system and the velocity vector in each of the follower coordinate system. The orientation error is estimated recursively by using the extended Kalman filter. Experimental results illustrate the effectiveness of the proposed method.

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DO - 10.1109/ROBOT.1998.680947

M3 - Conference article

AN - SCOPUS:0031644174

SN - 1050-4729

VL - 4_1998

SP - 3297

EP - 3302

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

M1 - 680947

T2 - 15th IEEE International Conference on Robotics and Automation, ICRA 1998

Y2 - 16 May 1998 through 20 May 1998

ER -

Calibration of coordinate system for decentralized coordinated motion control of multiple manipulators

Abstract

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