TY - GEN
T1 - Load sharing algorithm for transporting an object by two mobile robots in coordination
AU - Takeda, Hiroki
AU - Wang, Zhi Dong
AU - Hirata, Yasuhisa
AU - Kosuge, Kazuhiro
PY - 2004/12/1
Y1 - 2004/12/1
N2 - In this paper, we propose an object transporting system by two tracked mobile robots in an environment with a slope. In such environment an effect of an external force applied to the object should be considered. We first address dynamic cooperative control algorithm of the robot system without external force applied to the object. Next, we derive cooperative control algorithm of the system including the effect of the external force. Then we propose an algorithm of a load sharing among robots in an uneven environment. We apply the proposed algorithm to the experimental system of two tracked mobile robots and illustrate the validity of the proposed algorithm.
AB - In this paper, we propose an object transporting system by two tracked mobile robots in an environment with a slope. In such environment an effect of an external force applied to the object should be considered. We first address dynamic cooperative control algorithm of the robot system without external force applied to the object. Next, we derive cooperative control algorithm of the system including the effect of the external force. Then we propose an algorithm of a load sharing among robots in an uneven environment. We apply the proposed algorithm to the experimental system of two tracked mobile robots and illustrate the validity of the proposed algorithm.
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M3 - Conference contribution
AN - SCOPUS:8844244795
SN - 0780387481
T3 - Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation
SP - 374
EP - 378
BT - Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation
T2 - Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation
Y2 - 26 August 2004 through 31 August 2004
ER -