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.
|出版ステータス||出版済み - 2002|
|イベント||2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, スイス|
継続期間: 2002 9月 30 → 2002 10月 4
|会議||2002 IEEE/RSJ International Conference on Intelligent Robots and Systems|
|Period||02/9/30 → 02/10/4|