Planning method for cooperative manipulation by multiple mobilerobots using tools with motion errors
Yamashita, A.; Kawano, K.; Ota, J.; Arai, T.; Fukuchi, M.; Sasaki, J.; Aiyama, Y.
Intelligent Robots and Systems, 1999. IROS apos;99. Proceedings. 1999 IEEE/RSJ International Conference on
Volume 2, Issue , 1999 Page(s):978 - 983 vol.2
Digital Object Identifier 10.1109/IROS.1999.812807
Summary:In this paper, we propose a method of an object manipulation by
multiple mobile robots using sticks as tools. In the conventional
cooperative work by multiple mobile robots, manipulation technique based
on force-control has been proposed. However, mobile robots are moving by
position-control, and motion errors can easily arise. Then, we build the
manipulation technique, which is suitable for mobile robots by
position-control. We propose the manipulation method without using
sensor information, and consider the motion errors of mobile robots and
the indefinite element of environment from the planning stage. We
compute the conditions in which the object gets unstable during
manipulation, and generate the motion of each mobile robot with these
analyses. We verify the effectiveness of our proposed motion planning
method through simulations and experiments
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