By Topic

Cooperative control and force limitation for multiple robots in single object transportation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Kato, K. ; Dept. of Syst. & Human Sci., Osaka Univ., Japan ; Inoue, K. ; Arai, T. ; Mae, Y.

A cooperative control method for multiple robots for transporting single object is proposed, which is effective in unknown environment. All robots are controlled by the same algorithm, and they can have different objective. tasks simultaneously. Hence the method can deal with the situation where one robot has "trajectory tracking task" and another robot which detects an obstacle has "obstacle avoidance task". A task is expressed as the desired position of the object and the associated weight matrix, and each robot can set its own desired position and weight matrix independently of the other robots' tasks. This method requires no real-time communication among the robots. The robots can cooperatively transport the object to the composite desired position which is the weighted mid point of all desired positions. The forces between the robots and the object are controlled as equally as possible during transportation, and exceeding forces can be suppressed. The effectiveness and usefulness of the method are ascertained by computer simulation

Published in:

Industrial Electronics Society, 2001. IECON '01. The 27th Annual Conference of the IEEE  (Volume:1 )

Date of Conference:

2001