Abstract
In this paper, we propose a decentralized control algorithm of multiple mobile manipulators handling a single object in coordination. In this algorithm, the grasping 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 three mobile manipulators, and the validity of the proposed control algorithm is illustrated by the experimental results.
| Original language | English |
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| Pages | 2758-2763 |
| Number of pages | 6 |
| Publication status | Published - 2002 Jan 1 |
| Event | 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland Duration: 2002 Sept 30 → 2002 Oct 4 |
Other
| Other | 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems |
|---|---|
| Country/Territory | Switzerland |
| City | Lausanne |
| Period | 02/9/30 → 02/10/4 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications