Intelligent Coordinated Control System based on Complement of Functions for Multiple environment-adaptive Mobile Robots

随着老龄化社会的到来，我们的社会正在考虑几个严重的问题。机器人有望成为解决医疗和福利领域、家庭和办公室、建筑工地等与我们日常活动有关的问题的解决方案之一。在与人类一起的普通环境中使用机器人，机动性是覆盖工作空间的重要功能，从安全角度来看，多个小型机器人比大型重型机器人更合适。因为每个小机器人在以同样的速度移动时，其动能比大而重的机器人要小，并且在与人/人发生碰撞时对人的伤害要小。在这个项目中，我们开发了多个移动机械手来帮助人类。每个机器人由一个全方位移动基座和一个七自由度机械手组成。六轴力/扭矩传感器安装在每个机械手的手腕上，以协调处理物体。身体力传感器是一种类似并联的力/扭矩传感器，安装在机器人身体上，从安全角度检测施加在机器人身体上的力/力矩。我们还提出了多个移动机械臂协调处理单个目标的智能控制算法。在这些控制算法中，多个移动机器人可以根据人的意图和环境信息协调处理单个物体。将所提出的控制算法应用于所研制的移动机械臂上，验证了所提出控制算法的有效性。

With the coming of aging societies, several serious problems are considered in our society. Robots are expected to be one of solutions for problems relating to our daily activities, such as in medical and welfare fields, at home and office, in construction sites, and so on. To use the robots in an ordinary environment with humans, mobility is an important function to cover a working space, and multiple small robots are more appropriate than a large and heavy robot from a safety point of view. Because each small robot has less kinetic energy than the large and heavy one, when they are moving with the same speed, and less harmful to a human when it collides with a human/humans.In this project, we developed multiple mobile manipulators for assisting humans. Each robot consists of am omni-directional mobile base and a 7-DOF manipulator. The six-axis force/torque sensor is installed to the wrist of each manipulator to handle an object in coordination. The body force sensor, which is the parallel-like type force/torque sensor, is attached to the body for detecting the force/moment applied to the body of the robot from the safety point of view.We also proposed several intelligent control algorithms of multiple mobile manipulators for handling a single object in coordination. In these control algorithms, multiple mobile robots could handle a single object in coordination based on the human intention and the information of an environment. The proposed control algorithms were applied to the developed mobile manipulator experimentally and illustrated the validities of the proposed control algorithms.