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Conference Paper: Decentralized control of multiple mobile manipulators handling a single object in coordination

TitleDecentralized control of multiple mobile manipulators handling a single object in coordination
Authors
Kume, YouheiHirata, YasuhisaWang, Zhi DongKosuge, Kazuhiro
Issue Date2002
Citation
IEEE International Conference on Intelligent Robots and Systems, 2002, v. 3, p. 2758-2763 How to Cite?
DOI: http://dx.doi.org/10.1109/IRDS.2002.1041687
AbstractIn this paper, we propose a decentralized control algorithm of multiple mobile manipulators handling a single object in coordination. In this algorithm, the grasping point of each robot is controlled as if it has a caster-like dynamics in 3-D space, and each robot handles a single object in coordination with other robots without using the geometric relations among the robots. The proposed control algorithm is experimentally applied to three mobile manipulators, and the validity of the proposed control algorithm is illustrated by the experimental results.
Persistent Identifierhttp://hdl.handle.net/10722/302711

 

DC FieldValueLanguage
dc.contributor.authorKume, Youhei-
dc.contributor.authorHirata, Yasuhisa-
dc.contributor.authorWang, Zhi Dong-
dc.contributor.authorKosuge, Kazuhiro-
dc.date.accessioned2021-09-07T08:42:26Z-
dc.date.available2021-09-07T08:42:26Z-
dc.date.issued2002-
dc.identifier.citationIEEE International Conference on Intelligent Robots and Systems, 2002, v. 3, p. 2758-2763-
dc.identifier.urihttp://hdl.handle.net/10722/302711-
dc.description.abstractIn this paper, we propose a decentralized control algorithm of multiple mobile manipulators handling a single object in coordination. In this algorithm, the grasping point of each robot is controlled as if it has a caster-like dynamics in 3-D space, and each robot handles a single object in coordination with other robots without using the geometric relations among the robots. The proposed control algorithm is experimentally applied to three mobile manipulators, and the validity of the proposed control algorithm is illustrated by the experimental results.-
dc.languageeng-
dc.relation.ispartofIEEE International Conference on Intelligent Robots and Systems-
dc.titleDecentralized control of multiple mobile manipulators handling a single object in coordination-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/IRDS.2002.1041687-
dc.identifier.scopuseid_2-s2.0-0036450855-
dc.identifier.volume3-
dc.identifier.spage2758-
dc.identifier.epage2763-

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