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Object-transportation control by multiple wheeled vehicle-planar Cartesian manipulator systems

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3 Author(s)
Hashimoto, M. ; Fac. of Eng., Hiroshima Univ., Japan ; Oba, F. ; Zenitani, S.

This paper proposes a control scheme to transport a palletized load by several wheeled vehicles (automated guided vehicles in factory). The planar Cartesian manipulator with two-degrees-of-freedom prismatic joint and one-degree-of-freedom rotary joint is mounted on each vehicle so that the vehicle with nonholonomic constraint and slow dynamic response can dexterously manipulate the pallet. Each vehicle-manipulator system independently controls the acceleration of its own hand grasping the pallet based on the prescribed mechanical impedance model. The kinematical redundancy of the vehicle-manipulator system is exploited to keep the manipulator arm within its workspace while executing the hand desired acceleration faithfully. The simulation result for the object-transportation by four vehicle-manipulator systems illustrates the validity of the proposed control scheme

Published in:

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on  (Volume:3 )

Date of Conference:

21-27 May 1995