持ち替え動作を導入した移動ロボット群による大型対象物の搬送制御

概要

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This paper deals with a real-time planning method for transportation/regrasp of a large object by multiple robots (a robot group). Real-time performance can be realized by iterating two-step sub-planning in one sampling interval: (1) motion planning of the object, and (2) that of the robot group. The virtual impedance method, which was proposed by the authors, is extended to sub-planning (1). For sub-planning (2), nonlinear programming is used to determine the optimal distribution of the robot group with consideration of obstacle avoidance and stable grasping. Simulations are performed for transport of a rectangular object by three robots. The effectiveness of the proposed method is shown in terms of evaluating distance between the robots and obstacles and grasping stability.
社団法人日本機械学会の論文
1997-01-25