車輪形移動ロボット群による持ち替え協調搬送の実現

概要

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This paper deals with cooperative transportation by a group of car like mobile robots regrasping an object. The authors propose the following approach: (1)designing a robot hand system, end-effector with compliant passive joint set up with offset: (2)robot motion planning by optimizing under constraints of available torque limitation that can be applied to an object. This end-effector enables us to avoid complications with motion planning because of non-holonomic characteristics. It also enables cooperation among robots that have errors in positioning. And torque limitation is considered in order to prevent slipping between the wheels and a floor. The effectiveness of the motion planning algorithm has been verified by transport simulations. Experiment shows that cooperative transportation can be realized.
社団法人日本機械学会の論文
1999-03-25