A unified distributed cooperation strategy for multiple object handling robots
A unified distributed cooperation strategy for multiple object handling robots
复制标题
多物体搬运机器人统一分布式协作策略
DOI：
10.1109/robot.1998.681030
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发表时间：
1998
期刊：
影响因子：
--
通讯作者：
E. Nakano
中科院分区：
文献类型：
--
作者：
M. N. Ahmadabadi;E. Nakano
基于约束移动的概念，作者（1997年）以前介绍的，一个统一的方法来开发一组多个机器人的合作策略，以提升/降低的对象，并携带它沿沿着所需的路径。在这种方法中，当转移负载时，一组机器人，称为约束机器人，约束物体的运动，这些运动与其期望的路径正交。为了提升/降低物体，这些机器人通过约束其侧面来限制负载的角度和水平运动。其余的机器人将物体推向目标。它被讨论，负载的重量可以被机器人作为一个自然约束的对象。这样，机器人就不再需要限制物体。相反，物体提升机器人必须以保持物体上的自然约束的方式提升物体。一个分布式的机器人合作策略，以满足这一要求进行重新审查。实验结果表明了该方法的有效性。
Based on the constrain-move concept, previously introduced by the authors (1997), a unified approach to develop cooperation strategies for a group of multiple robots to lift/lower the object and to carry it along a desired path is introduced. In this method, when transferring the load, a group of robots, called constrain making robots, constrain the object's movements which are orthogonal to its desired path. To lift/lower the object, these robots confine angular and horizontal movements of the load by constraining its sides. The remaining robots push the object toward its goal. It is discussed that, the weight of the load can be used by the robots as a natural constrain on the object. Doing so, there is no need for the robots to confine the object any more. Instead, the object lifting robots must lift the object in such a way that the natural constraint on the object is held. A distributed cooperation strategy for the robots to fulfil this requirement is reexamined. Some experimental results are also given to show the effectiveness of the proposed approach.