Cooperative Control for Three Mobile Robots Transporting a Large Object
Cooperative Control for Three Mobile Robots Transporting a Large Object
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三个移动机器人搬运大型物体的协同控制
DOI：
10.7210/jrsj.19.744
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发表时间：
2001
期刊：
影响因子：
--
通讯作者：
Takashi Okazaki
中科院分区：
文献类型：
--
作者：
H. Osumi;Hisashi Nojiri;Yasushi Kuribayashi;Takashi Okazaki
讨论了多个速度可控的移动的机器人协作搬运大型物体的控制算法。被动关节安装在每个机器人作为机械顺应性，以避免机器人之间的相互定位误差造成过大的内力。设计了两个由三个移动的机器人组成的协作系统作为协作机构，并从控制的角度分析了它们的特点。在选择了一种性能较好的反馈控制器后，设计了一个原型系统。协同运输实验结果表明了该系统的有效性。
A control algorithm for transporting a large object by cooperation of multiple velocity-controlled mobile robots is discussed. Passive joints are installed into each robot as mechanical compliance to avoid excessive inner forces caused by mutual positioning errors among robots. Two cooperative systems consisting of three mobile robots are designed as cooperative mechanisms and their characteristics are analyzed from the control point of view. After choosing one type with more suitable performance for feedback control, a prototype system is developed. Experimental results of cooperative transportation with the system show the effectiveness ofthe proposed system.