1A2-C18 車両の搬送を目的とした複数ロボット協調システムiCART : 第4報統合制御システム

概要

論文の詳細を見る
For transporting a car at narrow place, we propose a car transportation system termed as iCART (intelligent Cooperative Autonomous Robot Transporters). In this system, two robots approach the car autonomously, and lift up it for supporting its weight from right/left side respectively. Then, two robots transport the car in coordination. To realize the transportation of the car, the system needs to handle many things such as the control of robots, the trajectory generation, the environmental recognition and so on. In this paper, these tasks are aranged to five modules and a control architecture and an integrated control system, which control each module in coordination based on a model described using the petri net, are proposed. Proposed systems are integrated to iCART and experimental results illustrate the validity of the proposed method.
一般社団法人日本機械学会の論文
2009-05-25