Coordinated motion control of multiple mobile manipulators handling a single object without using force/torque sensors

Yohei Kume; Yasuhisa Hirata; Kazuhiro Kosuge

doi:10.1109/IROS.2007.4399070

Coordinated motion control of multiple mobile manipulators handling a single object without using force/torque sensors

Yohei Kume, Yasuhisa Hirata, Kazuhiro Kosuge

ENG - Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

29 Citations (Scopus)

Abstract

In this paper, we propose a coordinated motion control algorithm of multiple mobile manipulators handling a single object without using force/torque sensors. In this control algorithm, each mobile manipulator is controlled as if its grasping point has an impedance dynamics by using the real dynamics of the manipulator instead of force/torque sensors. These mobile manipulators handle a single object in coordination using the leader-follower type control algorithm based on the impedance dynamics. Then, the effect of parameter identification errors is discussed and a method to reduce it is proposed. The proposed control algorithm is experimentally applied to two mobile manipulators, and the experimental results illustrate the validity of the proposed control algorithm.

Original language	English
Title of host publication	Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages	4077-4082
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2007.4399070
Publication status	Published - 2007 Dec 1
Event	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States Duration: 2007 Oct 29 → 2007 Nov 2

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Other

Other	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Country/Territory	United States
City	San Diego, CA
Period	07/10/29 → 07/11/2

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2007.4399070

Cite this

Kume, Y., Hirata, Y., & Kosuge, K. (2007). Coordinated motion control of multiple mobile manipulators handling a single object without using force/torque sensors. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 (pp. 4077-4082). [4399070] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2007.4399070

Coordinated motion control of multiple mobile manipulators handling a single object without using force/torque sensors. / Kume, Yohei; Hirata, Yasuhisa; Kosuge, Kazuhiro.
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. p. 4077-4082 4399070 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kume, Y, Hirata, Y & Kosuge, K 2007, Coordinated motion control of multiple mobile manipulators handling a single object without using force/torque sensors. in Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007., 4399070, IEEE International Conference on Intelligent Robots and Systems, pp. 4077-4082, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, San Diego, CA, United States, 07/10/29. https://doi.org/10.1109/IROS.2007.4399070

Kume Y, Hirata Y, Kosuge K. Coordinated motion control of multiple mobile manipulators handling a single object without using force/torque sensors. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. p. 4077-4082. 4399070. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2007.4399070

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Coordinated motion control of multiple mobile manipulators handling a single object without using force/torque sensors

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