Coordinated motion control of multiple mobile manipulators handling a single object without using force/torque sensors

In this paper, we propose a coordinated motion control algorithm of multiple mobile manipulators handling a single object without using force/torque sensors. In this control algorithm, each mobile manipulator is controlled as if its grasping point has an impedance dynamics by using the real dynamics...

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Bibliographic Details
Published in2007 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 4077 - 4082
Main Authors Kume, Y., Hirata, Y., Kosuge, K.
Format Conference Proceeding
LanguageEnglish
Japanese
Published IEEE 01.10.2007
Subjects
Biosensors
Force control
Force sensors
Impedance
Intelligent robots
Manipulator dynamics
Motion control
Robot kinematics
Sensor systems
Torque control
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ISBN9781424409112
142440911X
ISSN2153-0858
DOI10.1109/IROS.2007.4399070

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Summary:In this paper, we propose a coordinated motion control algorithm of multiple mobile manipulators handling a single object without using force/torque sensors. In this control algorithm, each mobile manipulator is controlled as if its grasping point has an impedance dynamics by using the real dynamics of the manipulator instead of force/torque sensors. These mobile manipulators handle a single object in coordination using the leader-follower type control algorithm based on the impedance dynamics. Then, the effect of parameter identification errors is discussed and a method to reduce it is proposed. The proposed control algorithm is experimentally applied to two mobile manipulators, and the experimental results illustrate the validity of the proposed control algorithm.
ISBN:9781424409112
142440911X
ISSN:2153-0858
DOI:10.1109/IROS.2007.4399070