1A1-D05 複数移動マニピュレータによる力センサを用いない物体の協調ハンドリング(複数ロボットの協調制御)

概要

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In this paper, we propose a decentralized control system of multiple mobile manipulators handling a single object in coordination without using force/torque sensors. In this system, the grasping point of each robot is controlled as if it has an impedance dynamics without using a force/torque sensor, by using the identified parameters of each robot. These robots handle a single object in coordination using a leader-follower type control algorithm. We also consider the effect of parameter identification errors and propose a method to reduce the effect of them. The proposed control system is experimentally applied to two mobile manipulators, and the experimental results illustrate the validity of the proposed control system.
一般社団法人日本機械学会の論文
2007-05-11